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提交 79f76feb 编写于 作者: J jmtao 提交者： Jiangtao Hu
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perception: delete an already migrated test file

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modules/perception/common/test/common_point_cloud_processing_common_test.cc 已删除 100644 → 0
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/******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/perception/common/point_cloud_processing/common.h"
#include <gtest/gtest.h>
#include <limits>
namespace apollo {
namespace perception {
namespace common {
TEST(PointCloudProcessingCommonTest, transform_point_test) {
base::PointF pt_in;
pt_in.x = 10.f;
pt_in.y = 10.f;
pt_in.z = 5.f;
base::PointF pt_out;
Eigen::Affine3d pose = Eigen::Affine3d::Identity();
TransformPoint(pt_in, pose, &pt_out);
EXPECT_NEAR(pt_in.x, 10.f, FLT_EPSILON);
EXPECT_NEAR(pt_in.y, 10.f, FLT_EPSILON);
EXPECT_NEAR(pt_in.z, 5.f, FLT_EPSILON);
}
TEST(PointCloudProcessingCommonTest, transform_point_cloud_test1) {
base::PointFCloud cloud_in, cloud_out;
base::PointF temp;
temp.x = 10.f;
temp.y = 10.f;
temp.z = 5.f;
cloud_in.push_back(temp);
temp.x = 20.f;
temp.y = -10.f;
temp.z = 15.f;
cloud_in.push_back(temp);
Eigen::Affine3d pose = Eigen::Affine3d::Identity();
TransformPointCloud<base::PointFCloud>(cloud_in, pose, &cloud_out);
EXPECT_NEAR(cloud_out[0].x, 10.f, FLT_EPSILON);
EXPECT_NEAR(cloud_out[0].y, 10.f, FLT_EPSILON);
EXPECT_NEAR(cloud_out[0].z, 5.f, FLT_EPSILON);
EXPECT_NEAR(cloud_out[1].x, 20.f, FLT_EPSILON);
EXPECT_NEAR(cloud_out[1].y, -10.f, FLT_EPSILON);
EXPECT_NEAR(cloud_out[1].z, 15.f, FLT_EPSILON);
}
TEST(PointCloudProcessingCommonTest, transform_point_cloud_test2) {
base::PointFCloudPtr cloud_in(new base::PointFCloud);
base::PointFCloudPtr cloud_out(new base::PointFCloud);
base::PointF temp;
temp.x = 10.f;
temp.y = 10.f;
temp.z = 5.f;
cloud_in->push_back(temp);
temp.x = 20.f;
temp.y = -10.f;
temp.z = 15.f;
cloud_in->push_back(temp);
Eigen::Affine3d pose = Eigen::Affine3d::Identity();
TransformPointCloud<base::PointFCloud>(cloud_in, pose, cloud_out);
EXPECT_NEAR(cloud_out->at(0).x, 10.f, FLT_EPSILON);
EXPECT_NEAR(cloud_out->at(0).y, 10.f, FLT_EPSILON);
EXPECT_NEAR(cloud_out->at(0).z, 5.f, FLT_EPSILON);
EXPECT_NEAR(cloud_out->at(1).x, 20.f, FLT_EPSILON);
EXPECT_NEAR(cloud_out->at(1).y, -10.f, FLT_EPSILON);
EXPECT_NEAR(cloud_out->at(1).z, 15.f, FLT_EPSILON);
}
TEST(PointCloudProcessingCommonTest, transform_point_cloud_test3) {
base::PointFCloud cloud_in_out;
base::PointF temp;
temp.x = 10.f;
temp.y = 10.f;
temp.z = 5.f;
cloud_in_out.push_back(temp);
temp.x = 20.f;
temp.y = -10.f;
temp.z = 15.f;
cloud_in_out.push_back(temp);
Eigen::Affine3d pose = Eigen::Affine3d::Identity();
TransformPointCloud<base::PointFCloud>(pose, &cloud_in_out);
EXPECT_NEAR(cloud_in_out[0].x, 10.f, FLT_EPSILON);
EXPECT_NEAR(cloud_in_out[0].y, 10.f, FLT_EPSILON);
EXPECT_NEAR(cloud_in_out[0].z, 5.f, FLT_EPSILON);
EXPECT_NEAR(cloud_in_out[1].x, 20.f, FLT_EPSILON);
EXPECT_NEAR(cloud_in_out[1].y, -10.f, FLT_EPSILON);
EXPECT_NEAR(cloud_in_out[1].z, 15.f, FLT_EPSILON);
}
TEST(PointCloudProcessingCommonTest, transform_point_cloud_test4) {
base::PointFCloudPtr cloud_in_out(new base::PointFCloud);
base::PointF temp;
temp.x = 10.f;
temp.y = 10.f;
temp.z = 5.f;
cloud_in_out->push_back(temp);
temp.x = 20.f;
temp.y = -10.f;
temp.z = 15.f;
cloud_in_out->push_back(temp);
Eigen::Affine3d pose = Eigen::Affine3d::Identity();
TransformPointCloud<base::PointFCloud>(pose, cloud_in_out);
EXPECT_NEAR(cloud_in_out->at(0).x, 10.f, FLT_EPSILON);
EXPECT_NEAR(cloud_in_out->at(0).y, 10.f, FLT_EPSILON);
EXPECT_NEAR(cloud_in_out->at(0).z, 5.f, FLT_EPSILON);
EXPECT_NEAR(cloud_in_out->at(1).x, 20.f, FLT_EPSILON);
EXPECT_NEAR(cloud_in_out->at(1).y, -10.f, FLT_EPSILON);
EXPECT_NEAR(cloud_in_out->at(1).z, 15.f, FLT_EPSILON);
}
TEST(PointCloudProcessingCommonTest, extract_indiced_cloud_test) {
base::PointFCloudPtr cloud_in(new base::PointFCloud);
base::PointFCloudPtr cloud_out(new base::PointFCloud);
base::PointF temp;
temp.x = 10.f;
temp.y = 10.f;
temp.z = 5.f;
cloud_in->push_back(temp);
temp.x = 20.f;
temp.y = -10.f;
temp.z = 15.f;
cloud_in->push_back(temp);
std::vector<int> indices;
indices.push_back(1);
ExtractIndicedCloud<base::PointFCloud>(cloud_in, indices, cloud_out);
EXPECT_NEAR(cloud_out->at(0).x, 20.f, FLT_EPSILON);
EXPECT_NEAR(cloud_out->at(0).y, -10.f, FLT_EPSILON);
EXPECT_NEAR(cloud_out->at(0).z, 15.f, FLT_EPSILON);
}
TEST(PointCloudProcessingCommonTest, get_min_max_in_3d_test) {
base::PointF temp;
base::PointFCloudPtr cloud(new base::PointFCloud);
temp.x = 10.f;
temp.y = 10.f;
temp.z = 10.f;
cloud->push_back(temp);
temp.x = 20.f;
temp.y = -10.f;
temp.z = 5.f;
cloud->push_back(temp);
temp.x = -10.f;
temp.y = 0.f;
temp.z = 15.f;
cloud->push_back(temp);
base::PointIndices indices;
indices.indices.push_back(0);
indices.indices.push_back(2);
Eigen::Vector4f min_pt, max_pt;
GetMinMaxIn3D<base::PointFCloud>(cloud, indices, &min_pt, &max_pt);
EXPECT_NEAR(min_pt(0), -10.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(1), 0.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(2), 10.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(3), 0.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(0), 10.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(1), 10.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(2), 15.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(3), 0.f, FLT_EPSILON);
temp.x = std::numeric_limits<float>::quiet_NaN();
temp.y = 10.f;
temp.z = 10.f;
cloud->push_back(temp);
temp.x = 10.f;
temp.y = std::numeric_limits<float>::quiet_NaN();
temp.z = 10.f;
cloud->push_back(temp);
temp.x = 10.f;
temp.y = 10.f;
temp.z = std::numeric_limits<float>::quiet_NaN();
cloud->push_back(temp);
indices.indices.push_back(3);
indices.indices.push_back(4);
indices.indices.push_back(5);
GetMinMaxIn3D<base::PointFCloud>(cloud, indices, &min_pt, &max_pt);
EXPECT_NEAR(min_pt(0), -10.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(1), 0.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(2), 10.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(3), 0.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(0), 10.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(1), 10.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(2), 15.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(3), 0.f, FLT_EPSILON);
}
TEST(PointCloudProcessingCommonTest, get_min_max_in_3d_test2) {
base::PointF temp;
base::PointFCloudPtr cloud(new base::PointFCloud);
temp.x = 10.f;
temp.y = 10.f;
temp.z = 10.f;
cloud->push_back(temp);
temp.x = 20.f;
temp.y = -10.f;
temp.z = 5.f;
cloud->push_back(temp);
temp.x = -10.f;
temp.y = 0.f;
temp.z = 15.f;
cloud->push_back(temp);
base::PointIndices indices;
indices.indices.push_back(0);
indices.indices.push_back(2);
Eigen::Vector4f min_pt, max_pt;
GetMinMaxIn3D<base::PointFCloud>(cloud, &min_pt, &max_pt);
EXPECT_NEAR(min_pt(0), -10.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(1), -10.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(2), 5.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(3), 0.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(0), 20.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(1), 10.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(2), 15.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(3), 0.f, FLT_EPSILON);
temp.x = std::numeric_limits<float>::quiet_NaN();
temp.y = 10.f;
temp.z = 10.f;
cloud->push_back(temp);
temp.x = 10.f;
temp.y = std::numeric_limits<float>::quiet_NaN();
temp.z = 10.f;
cloud->push_back(temp);
temp.x = 10.f;
temp.y = 10.f;
temp.z = std::numeric_limits<float>::quiet_NaN();
cloud->push_back(temp);
GetMinMaxIn3D<base::PointFCloud>(cloud, &min_pt, &max_pt);
EXPECT_NEAR(min_pt(0), -10.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(1), -10.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(2), 5.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(3), 0.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(0), 20.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(1), 10.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(2), 15.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(3), 0.f, FLT_EPSILON);
}
TEST(PointCloudProcessingCommonTest, get_min_max_in_3d_test3) {
base::PointF temp;
base::PointFCloud cloud;
temp.x = 10.f;
temp.y = 10.f;
temp.z = 10.f;
cloud.push_back(temp);
temp.x = 20.f;
temp.y = -10.f;
temp.z = 5.f;
cloud.push_back(temp);
temp.x = -10.f;
temp.y = 0.f;
temp.z = 15.f;
cloud.push_back(temp);
base::PointIndices indices;
indices.indices.push_back(0);
indices.indices.push_back(2);
Eigen::Vector4f min_pt, max_pt;
GetMinMaxIn3D<base::PointFCloud>(cloud, indices, &min_pt, &max_pt);
EXPECT_NEAR(min_pt(0), -10.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(1), 0.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(2), 10.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(3), 0.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(0), 10.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(1), 10.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(2), 15.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(3), 0.f, FLT_EPSILON);
temp.x = std::numeric_limits<float>::quiet_NaN();
temp.y = 10.f;
temp.z = 10.f;
cloud.push_back(temp);
temp.x = 10.f;
temp.y = std::numeric_limits<float>::quiet_NaN();
temp.z = 10.f;
cloud.push_back(temp);
temp.x = 10.f;
temp.y = 10.f;
temp.z = std::numeric_limits<float>::quiet_NaN();
cloud.push_back(temp);
indices.indices.push_back(3);
indices.indices.push_back(4);
indices.indices.push_back(5);
GetMinMaxIn3D<base::PointFCloud>(cloud, indices, &min_pt, &max_pt);
EXPECT_NEAR(min_pt(0), -10.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(1), 0.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(2), 10.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(3), 0.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(0), 10.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(1), 10.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(2), 15.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(3), 0.f, FLT_EPSILON);
}
TEST(PointCloudProcessingCommonTest, get_min_max_in_3d_test4) {
base::PointF temp;
base::PointFCloud cloud;
temp.x = 10.f;
temp.y = 10.f;
temp.z = 10.f;
cloud.push_back(temp);
temp.x = 20.f;
temp.y = -10.f;
temp.z = 5.f;
cloud.push_back(temp);
temp.x = -10.f;
temp.y = 0.f;
temp.z = 15.f;
cloud.push_back(temp);
base::PointIndices indices;
indices.indices.push_back(0);
indices.indices.push_back(2);
Eigen::Vector4f min_pt, max_pt;
GetMinMaxIn3D<base::PointFCloud>(cloud, &min_pt, &max_pt);
EXPECT_NEAR(min_pt(0), -10.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(1), -10.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(2), 5.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(3), 0.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(0), 20.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(1), 10.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(2), 15.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(3), 0.f, FLT_EPSILON);
temp.x = std::numeric_limits<float>::quiet_NaN();
temp.y = 10.f;
temp.z = 10.f;
cloud.push_back(temp);
temp.x = 10.f;
temp.y = std::numeric_limits<float>::quiet_NaN();
temp.z = 10.f;
cloud.push_back(temp);
temp.x = 10.f;
temp.y = 10.f;
temp.z = std::numeric_limits<float>::quiet_NaN();
cloud.push_back(temp);
GetMinMaxIn3D<base::PointFCloud>(cloud, &min_pt, &max_pt);
EXPECT_NEAR(min_pt(0), -10.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(1), -10.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(2), 5.f, FLT_EPSILON);
EXPECT_NEAR(min_pt(3), 0.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(0), 20.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(1), 10.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(2), 15.f, FLT_EPSILON);
EXPECT_NEAR(max_pt(3), 0.f, FLT_EPSILON);
}
TEST(PointCloudProcessingCommonTest, calculate_centroid_test) {
base::PointFCloudPtr cloud(new base::PointFCloud);
base::PointF temp;
temp.x = 10.f;
temp.y = 10.f;
temp.z = 5.f;
cloud->push_back(temp);
temp.x = 15.f;
temp.y = -10.f;
temp.z = 15.f;
cloud->push_back(temp);
temp.x = -10.f;
temp.y = 15.f;
temp.z = -5.f;
cloud->push_back(temp);
Eigen::Vector3f result = CalculateCentroid<base::PointFCloud>(*cloud);
EXPECT_NEAR(result(0), 5.f, FLT_EPSILON);
EXPECT_NEAR(result(1), 5.f, FLT_EPSILON);
EXPECT_NEAR(result(2), 5.f, FLT_EPSILON);
}
} // namespace common
} // namespace perception
} // namespace apollo
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