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体验新版 GitCode,发现更多精彩内容 >>
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79f76feb
编写于
9月 26, 2018
作者:
J
jmtao
提交者:
Jiangtao Hu
9月 26, 2018
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电子邮件补丁
差异文件
perception: delete an already migrated test file
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modules/perception/common/test/common_point_cloud_processing_common_test.cc
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modules/perception/common/test/common_point_cloud_processing_common_test.cc
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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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