MRPT  1.9.9
Macros | Functions
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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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::obs::CObservation3DRangeScan::rangeUnits, 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 48 of file CObservation3DRangeScan_unittest.cpp.

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

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◆ TEST() [2/7]

TEST ( CObservation3DRangeScan  ,
Project3D_filterMinMax1   
)

◆ TEST() [3/7]

TEST ( CObservation3DRangeScan  ,
Project3D_filterMinMaxAllBetween   
)

◆ TEST() [4/7]

TEST ( CObservation3DRangeScan  ,
Project3D_filterMinMaxNoneBetween   
)

◆ TEST() [5/7]

TEST ( CObservation3DRangeScan  ,
Project3D_filterMin   
)

Definition at line 149 of file CObservation3DRangeScan_unittest.cpp.

References EXPECT_EQ(), 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 173 of file CObservation3DRangeScan_unittest.cpp.

References EXPECT_EQ(), 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   
)



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