MRPT  2.0.4
Functions | Variables
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>
Include dependency graph for CObservation3DRangeScan_unittest.cpp:

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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 
)

◆ 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   
)

◆ 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   
)

◆ TEST() [5/10]

TEST ( CObservation3DRangeScan  ,
Project3D_filterMinMaxNoneBetween   
)

◆ 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   
)

◆ TEST() [9/10]

TEST ( CObservation3DRangeScan  ,
SyntheticRange   
)

◆ TEST() [10/10]

TEST ( CObservation3DRangeScan  ,
SyntheticDepth   
)

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().




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