CObservation3DRangeScan_unittest.cpp File Reference

#include <gtest/gtest.h>
#include <mrpt/config.h>
#include <mrpt/containers/copy_container_typecasting.h>
#include <mrpt/io/CFileGZInputStream.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/math/CHistogram.h>
#include <mrpt/obs/CObservation3DRangeScan.h>
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/system/filesystem.h>
#include <test_mrpt_common.h>

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Macros
#define	TEST_RANGEIMG_WIDTH   32
#define	TEST_RANGEIMG_HEIGHT   24

Functions
void	fillSampleObs (mrpt::obs::CObservation3DRangeScan &obs, mrpt::obs::T3DPointsProjectionParams &pp, int test_case)
	TEST (CObservation3DRangeScan, Project3D_noFilter)
	TEST (CObservation3DRangeScan, Project3D_filterMinMax1)
	TEST (CObservation3DRangeScan, Project3D_filterMinMaxAllBetween)
	TEST (CObservation3DRangeScan, Project3D_filterMinMaxNoneBetween)
	TEST (CObservation3DRangeScan, Project3D_filterMin)
	TEST (CObservation3DRangeScan, Project3D_filterMax)
	TEST (CObservation3DRangeScan, LoadAndCheckFloorPoints)

Macro Definition Documentation

TEST_RANGEIMG_HEIGHT

#define TEST_RANGEIMG_HEIGHT   24

Definition at line 26 of file CObservation3DRangeScan_unittest.cpp.

Referenced by fillSampleObs(), and TEST().

TEST_RANGEIMG_WIDTH

#define TEST_RANGEIMG_WIDTH   32

Definition at line 25 of file CObservation3DRangeScan_unittest.cpp.

Referenced by fillSampleObs(), and TEST().

Function Documentation

fillSampleObs()

void fillSampleObs	(	mrpt::obs::CObservation3DRangeScan &	obs,
		mrpt::obs::T3DPointsProjectionParams &	pp,
		int	test_case
	)

Definition at line 28 of file CObservation3DRangeScan_unittest.cpp.

References mrpt::obs::CObservation3DRangeScan::hasRangeImage, mrpt::obs::T3DPointsProjectionParams::PROJ3D_USE_LUT, mrpt::obs::CObservation3DRangeScan::rangeImage, mrpt::obs::CObservation3DRangeScan::rangeImage_setSize(), mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero(), mrpt::obs::T3DPointsProjectionParams::takeIntoAccountSensorPoseOnRobot, TEST_RANGEIMG_HEIGHT, TEST_RANGEIMG_WIDTH, and mrpt::obs::T3DPointsProjectionParams::USE_SSE2.

Referenced by TEST().

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TEST() [1/7]

TEST	(	CObservation3DRangeScan	,
		Project3D_noFilter
	)

Definition at line 46 of file CObservation3DRangeScan_unittest.cpp.

References fillSampleObs(), mrpt::obs::CObservation3DRangeScan::points3D_x, and mrpt::obs::CObservation3DRangeScan::project3DPointsFromDepthImageInto().

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TEST() [2/7]

TEST	(	CObservation3DRangeScan	,
		Project3D_filterMinMax1
	)

Definition at line 62 of file CObservation3DRangeScan_unittest.cpp.

References fillSampleObs(), mrpt::obs::CObservation3DRangeScan::points3D_x, mrpt::obs::CObservation3DRangeScan::project3DPointsFromDepthImageInto(), mrpt::obs::TRangeImageFilterParams::rangeCheckBetween, mrpt::obs::TRangeImageFilterParams::rangeMask_max, mrpt::obs::TRangeImageFilterParams::rangeMask_min, TEST_RANGEIMG_HEIGHT, and TEST_RANGEIMG_WIDTH.

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TEST() [3/7]

TEST	(	CObservation3DRangeScan	,
		Project3D_filterMinMaxAllBetween
	)

Definition at line 89 of file CObservation3DRangeScan_unittest.cpp.

References fillSampleObs(), mrpt::obs::CObservation3DRangeScan::points3D_x, mrpt::obs::CObservation3DRangeScan::project3DPointsFromDepthImageInto(), mrpt::obs::TRangeImageFilterParams::rangeCheckBetween, mrpt::obs::TRangeImageFilterParams::rangeMask_max, mrpt::obs::TRangeImageFilterParams::rangeMask_min, TEST_RANGEIMG_HEIGHT, and TEST_RANGEIMG_WIDTH.

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TEST() [4/7]

TEST	(	CObservation3DRangeScan	,
		Project3D_filterMinMaxNoneBetween
	)

Definition at line 118 of file CObservation3DRangeScan_unittest.cpp.

References fillSampleObs(), mrpt::obs::CObservation3DRangeScan::points3D_x, mrpt::obs::CObservation3DRangeScan::project3DPointsFromDepthImageInto(), mrpt::obs::TRangeImageFilterParams::rangeCheckBetween, mrpt::obs::TRangeImageFilterParams::rangeMask_max, mrpt::obs::TRangeImageFilterParams::rangeMask_min, TEST_RANGEIMG_HEIGHT, and TEST_RANGEIMG_WIDTH.

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TEST() [5/7]

TEST	(	CObservation3DRangeScan	,
		Project3D_filterMin
	)

Definition at line 147 of file CObservation3DRangeScan_unittest.cpp.

References fillSampleObs(), mrpt::obs::CObservation3DRangeScan::points3D_x, mrpt::obs::CObservation3DRangeScan::project3DPointsFromDepthImageInto(), mrpt::obs::TRangeImageFilterParams::rangeMask_min, TEST_RANGEIMG_HEIGHT, and TEST_RANGEIMG_WIDTH.

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TEST() [6/7]

TEST	(	CObservation3DRangeScan	,
		Project3D_filterMax
	)

Definition at line 171 of file CObservation3DRangeScan_unittest.cpp.

References fillSampleObs(), mrpt::obs::CObservation3DRangeScan::points3D_x, mrpt::obs::CObservation3DRangeScan::project3DPointsFromDepthImageInto(), mrpt::obs::TRangeImageFilterParams::rangeMask_max, TEST_RANGEIMG_HEIGHT, and TEST_RANGEIMG_WIDTH.

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TEST() [7/7]

TEST	(	CObservation3DRangeScan	,
		LoadAndCheckFloorPoints
	)

Definition at line 199 of file CObservation3DRangeScan_unittest.cpp.

References mrpt::math::CHistogram::add(), mrpt::serialization::archiveFrom(), mrpt::math::CHistogram::clear(), mrpt::containers::copy_container_typecasting(), mrpt::system::fileExists(), mrpt::math::CHistogram::getHistogram(), mrpt::obs::CSensoryFrame::getObservationByClass(), mrpt::maps::CPointsMap::getPointsBufferRef_z(), and mrpt::obs::T3DPointsProjectionParams::takeIntoAccountSensorPoseOnRobot.

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