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Update tests
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Signed-off-by: Alberto Tudela <[email protected]>
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@ajtudela
ajtudela committed Mar 12, 2024
1 parent 1671854 commit 26688ec
Showing 1 changed file with 34 additions and 16 deletions.
50 changes: 34 additions & 16 deletions test/test_laser_segmentation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -211,11 +211,11 @@ TEST(LaserSegmentationTest, filterSegments) {

// Set the parameters
nav2_util::declare_parameter_if_not_declared(
node, "min_points_segment", rclcpp::ParameterValue(2));
node, "min_points_segment", rclcpp::ParameterValue(1));
nav2_util::declare_parameter_if_not_declared(
node, "max_points_segment", rclcpp::ParameterValue(4));
node, "max_points_segment", rclcpp::ParameterValue(3));
nav2_util::declare_parameter_if_not_declared(
node, "min_avg_distance_from_sensor", rclcpp::ParameterValue(0.1));
node, "min_avg_distance_from_sensor", rclcpp::ParameterValue(1.0));
nav2_util::declare_parameter_if_not_declared(
node, "max_avg_distance_from_sensor", rclcpp::ParameterValue(10.0));
nav2_util::declare_parameter_if_not_declared(
Expand All @@ -228,19 +228,15 @@ TEST(LaserSegmentationTest, filterSegments) {
node, "noise_reduction", rclcpp::ParameterValue(0.1));
node->configure();

// Set a segment list with 1 segments
// Set a segment list with 0 segments
std::vector<slg::Segment2D> segment_list;
slg::Segment2D segment;
segment.add_point(slg::Point2D(0.0, 0.0, slg::BACKGROUND));
segment_list.push_back(segment);
// Filter the segments
auto filtered_segments = node->filter_segments(segment_list);
// Check the filtered segments
EXPECT_EQ(filtered_segments.size(), 0);

// Set a segment list with 4 segments of 1 point
segment_list.clear();
segment.clear();
slg::Segment2D segment;
segment.add_point(slg::Point2D(0.0, 0.0, slg::BACKGROUND));
segment_list.push_back(segment);
segment_list.push_back(segment);
Expand All @@ -251,60 +247,82 @@ TEST(LaserSegmentationTest, filterSegments) {
// Check the filtered segments
EXPECT_EQ(filtered_segments.size(), 0);

// Set a segment list with 1 segment with centroid below the minimum distance
// Set a segment list with 2 segments with centroid below the minimum distance
segment_list.clear();
segment.clear();
segment.add_point(slg::Point2D(0.0, 0.0, slg::BACKGROUND));
segment_list.push_back(segment);
segment.clear();
segment.add_point(slg::Point2D(0.5, 0.5, slg::BACKGROUND));
segment_list.push_back(segment);
// Filter the segments
filtered_segments = node->filter_segments(segment_list);
// Check the filtered segments
EXPECT_EQ(filtered_segments.size(), 0);

// Set a segment list with 1 segment with centroid above the maximum distance
// Set a segment list with 2 segments with centroid above the maximum distance
segment_list.clear();
segment.clear();
segment.add_point(slg::Point2D(11.0, 11.0, slg::BACKGROUND));
segment_list.push_back(segment);
segment.clear();
segment.add_point(slg::Point2D(12.0, 12.0, slg::BACKGROUND));
segment_list.push_back(segment);
// Filter the segments
filtered_segments = node->filter_segments(segment_list);
// Check the filtered segments
EXPECT_EQ(filtered_segments.size(), 0);

// Set a segment list with 1 segment with width below the minimum width
// Set a segment list with 2 segments with width below the minimum width
segment_list.clear();
segment.clear();
segment.add_point(slg::Point2D(0.0, 0.0, slg::BACKGROUND));
segment.add_point(slg::Point2D(0.0, 0.0, slg::BACKGROUND));
segment_list.push_back(segment);
segment.clear();
segment.add_point(slg::Point2D(1.0, 1.0, slg::BACKGROUND));
segment.add_point(slg::Point2D(1.0, 1.0, slg::BACKGROUND));
segment_list.push_back(segment);
// Filter the segments
filtered_segments = node->filter_segments(segment_list);
// Check the filtered segments
EXPECT_EQ(filtered_segments.size(), 0);

// Set a segment list with 1 segment with width above the maximum width
// Set a segment list with 2 segments with width above the maximum width
segment_list.clear();
segment.clear();
segment.add_point(slg::Point2D(0.0, 0.0, slg::BACKGROUND));
segment.add_point(slg::Point2D(10.0, 10.0, slg::BACKGROUND));
segment_list.push_back(segment);
segment.clear();
segment.add_point(slg::Point2D(0.0, 0.0, slg::BACKGROUND));
segment.add_point(slg::Point2D(15.0, 15.0, slg::BACKGROUND));
segment_list.push_back(segment);
// Filter the segments
filtered_segments = node->filter_segments(segment_list);
// Check the filtered segments
EXPECT_EQ(filtered_segments.size(), 0);

// Set a segment list with 1 segment with 2 points
// Set a segment list with 2 segment with 2 points
segment_list.clear();
segment.clear();
segment.add_point(slg::Point2D(0.0, 0.0, slg::BACKGROUND));
segment.add_point(slg::Point2D(1.0, 1.0, slg::BACKGROUND));
std::cout << "Width: " << segment.width_squared() << std::endl;
std::cout << "Centroid: " << segment.centroid().x << " " << segment.centroid().y << std::endl;
segment_list.push_back(segment);
segment.clear();
segment.add_point(slg::Point2D(2.0, 2.0, slg::BACKGROUND));
segment.add_point(slg::Point2D(3.0, 3.0, slg::BACKGROUND));
std::cout << "Width: " << segment.width_squared() << std::endl;
std::cout << "Centroid: " << segment.centroid().x << " " << segment.centroid().y << std::endl;
segment_list.push_back(segment);
// Filter the segments
filtered_segments = node->filter_segments(segment_list);
// Check the filtered segments
EXPECT_EQ(filtered_segments.size(), 1);
EXPECT_EQ(filtered_segments[0].centroid().x, 0.5);
EXPECT_EQ(filtered_segments[0].centroid().y, 0.5);
EXPECT_EQ(filtered_segments[0].centroid().x, 2.5);
EXPECT_EQ(filtered_segments[0].centroid().y, 2.5);
}

int main(int argc, char ** argv)
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