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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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_additionalLayers)
	TEST (CObservation3DRangeScan, Project3D_filterMinMaxAllBetween)
	TEST (CObservation3DRangeScan, Project3D_filterMinMaxNoneBetween)
	TEST (CObservation3DRangeScan, Project3D_filterMin)
	TEST (CObservation3DRangeScan, Project3D_filterMax)
	TEST (CObservation3DRangeScan, LoadAndCheckFloorPoints)
	TEST (CObservation3DRangeScan, SyntheticRange)
	TEST (CObservation3DRangeScan, SyntheticDepth)

Variables
constexpr unsigned int	TEST_RANGEIMG_WIDTH = 32
constexpr unsigned int	TEST_RANGEIMG_HEIGHT = 24
constexpr float	SECOND_LAYER_CONSTANT_RANGE = 50.0f

Function Documentation

fillSampleObs()

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

Definition at line 35 of file CObservation3DRangeScan_unittest.cpp.

References mrpt::obs::CObservation3DRangeScan::cameraParams, mrpt::img::TCamera::cx(), mrpt::img::TCamera::cy(), mrpt::math::MatrixVectorBase< Scalar, Derived >::fill(), mrpt::img::TCamera::fx(), mrpt::img::TCamera::fy(), mrpt::obs::CObservation3DRangeScan::hasRangeImage, mrpt::img::TCamera::ncols, mrpt::img::TCamera::nrows, mrpt::obs::CObservation3DRangeScan::rangeImage, mrpt::obs::CObservation3DRangeScan::rangeImage_setSize(), mrpt::obs::CObservation3DRangeScan::rangeImageOtherLayers, mrpt::obs::CObservation3DRangeScan::rangeUnits, SECOND_LAYER_CONSTANT_RANGE, 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() [1/10]

TEST	(	CObservation3DRangeScan	,
		Project3D_noFilter
	)

Definition at line 70 of file CObservation3DRangeScan_unittest.cpp.

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

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TEST() [2/10]

TEST	(	CObservation3DRangeScan	,
		Project3D_filterMinMax1
	)

Definition at line 86 of file CObservation3DRangeScan_unittest.cpp.

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

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TEST() [3/10]

TEST	(	CObservation3DRangeScan	,
		Project3D_additionalLayers
	)

Definition at line 113 of file CObservation3DRangeScan_unittest.cpp.

References EXPECT_EQ(), fillSampleObs(), mrpt::obs::T3DPointsProjectionParams::layer, mrpt::obs::CObservation3DRangeScan::points3D_x, TEST_RANGEIMG_HEIGHT, TEST_RANGEIMG_WIDTH, and mrpt::obs::CObservation3DRangeScan::unprojectInto().

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TEST() [4/10]

TEST	(	CObservation3DRangeScan	,
		Project3D_filterMinMaxAllBetween
	)

Definition at line 132 of file CObservation3DRangeScan_unittest.cpp.

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

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TEST() [5/10]

TEST	(	CObservation3DRangeScan	,
		Project3D_filterMinMaxNoneBetween
	)

Definition at line 161 of file CObservation3DRangeScan_unittest.cpp.

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

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TEST() [6/10]

TEST	(	CObservation3DRangeScan	,
		Project3D_filterMin
	)

Definition at line 190 of file CObservation3DRangeScan_unittest.cpp.

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

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TEST() [7/10]

TEST	(	CObservation3DRangeScan	,
		Project3D_filterMax
	)

Definition at line 214 of file CObservation3DRangeScan_unittest.cpp.

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

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TEST() [8/10]

TEST	(	CObservation3DRangeScan	,
		LoadAndCheckFloorPoints
	)

Definition at line 238 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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TEST() [9/10]

TEST	(	CObservation3DRangeScan	,
		SyntheticRange
	)

Definition at line 320 of file CObservation3DRangeScan_unittest.cpp.

References EXPECT_EQ(), EXPECT_NEAR(), mrpt::math::MatrixVectorBase< Scalar, Derived >::fill(), fillSampleObs(), mrpt::poses::CPose3D::FromString(), mrpt::maps::CPointsMap::getPoint(), mrpt::poses::CPose3D::inverseComposePoint(), mrpt::math::TPoint3D_< T >::norm(), R, mrpt::obs::CObservation3DRangeScan::range_is_depth, mrpt::obs::CObservation3DRangeScan::rangeImage, mrpt::obs::CObservation3DRangeScan::rangeUnits, mrpt::obs::CObservation3DRangeScan::sensorPose, mrpt::maps::CPointsMap::size(), mrpt::obs::T3DPointsProjectionParams::takeIntoAccountSensorPoseOnRobot, TEST_RANGEIMG_HEIGHT, TEST_RANGEIMG_WIDTH, mrpt::obs::CObservation3DRangeScan::unprojectInto(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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TEST() [10/10]

TEST	(	CObservation3DRangeScan	,
		SyntheticDepth
	)

Definition at line 357 of file CObservation3DRangeScan_unittest.cpp.

References EXPECT_EQ(), EXPECT_NEAR(), mrpt::math::MatrixVectorBase< Scalar, Derived >::fill(), fillSampleObs(), mrpt::poses::CPose3D::FromString(), mrpt::maps::CPointsMap::getPoint(), mrpt::poses::CPose3D::inverseComposePoint(), R, mrpt::obs::CObservation3DRangeScan::range_is_depth, mrpt::obs::CObservation3DRangeScan::rangeImage, mrpt::obs::CObservation3DRangeScan::rangeUnits, mrpt::obs::CObservation3DRangeScan::sensorPose, mrpt::maps::CPointsMap::size(), mrpt::obs::T3DPointsProjectionParams::takeIntoAccountSensorPoseOnRobot, TEST_RANGEIMG_HEIGHT, TEST_RANGEIMG_WIDTH, mrpt::obs::CObservation3DRangeScan::unprojectInto(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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Variable Documentation

SECOND_LAYER_CONSTANT_RANGE

constexpr float SECOND_LAYER_CONSTANT_RANGE = 50.0f

Definition at line 33 of file CObservation3DRangeScan_unittest.cpp.

Referenced by fillSampleObs().

TEST_RANGEIMG_HEIGHT

constexpr unsigned int TEST_RANGEIMG_HEIGHT = 24

Definition at line 31 of file CObservation3DRangeScan_unittest.cpp.

Referenced by fillSampleObs(), and TEST().

TEST_RANGEIMG_WIDTH

constexpr unsigned int TEST_RANGEIMG_WIDTH = 32

Definition at line 30 of file CObservation3DRangeScan_unittest.cpp.

Referenced by fillSampleObs(), and TEST().