PerceptionPerformanceTest Class Reference

Test fixture for performance testing of perception algorithms. More...

Inheritance diagram for PerceptionPerformanceTest:

Collaboration diagram for PerceptionPerformanceTest:

Public Member Functions
void	SetUp () override
	Set up the test fixture.
std::string	get_current_date_time_as_string ()
	Get current date and time as a string.
void	writeToFile (const PerceptionExecutionData &executionTime)
	Write performance statistics to a CSV file.

Public Attributes
std::string	output_statistics_path_file
std::string	inputFilesPaths = "../../src/perception/test/point_clouds/"
std::unique_ptr< GroundRemoval >	ground_removal
std::unique_ptr< Clustering >	clustering
std::unique_ptr< ConeDifferentiation >	cone_differentiator
pcl::PointCloud< pcl::PointXYZI >::Ptr	pcl_cloud
float	RANSAC_eps = 0.1
int	RANSAC_Iter = 20
float	DBSCAN_dist_threshold = 0.1
int	DBSCAN_neighbours_threshold = 1

Detailed Description

Test fixture for performance testing of perception algorithms.

Definition at line 40 of file performance_test.cpp.

Member Function Documentation

get_current_date_time_as_string()

std::string PerceptionPerformanceTest::get_current_date_time_as_string ( )

inline

Get current date and time as a string.

Returns

Current date and time as a string in "YYYY-MM-DD-HH:MM" format.

Definition at line 56 of file performance_test.cpp.

SetUp()

void PerceptionPerformanceTest::SetUp ( )

inlineoverride

Set up the test fixture.

Definition at line 45 of file performance_test.cpp.

writeToFile()

void PerceptionPerformanceTest::writeToFile ( const PerceptionExecutionData &  executionTime )

inline

Write performance statistics to a CSV file.

Parameters

initial_n_points	Initial number of points in the point cloud.
RANSAC_time	Duration of RANSAC algorithm in milliseconds.
ground_removed_size	Number of points after ground removal.
DBSCAN_time	Duration of DBSCAN algorithm in milliseconds.
ConeDif_time	Duration of cone differentiation algorithm in milliseconds.
Total_time	Total duration of the test in milliseconds.
generatedClusters	Number of clusters generated.
blues	Number of blue cones detected.
yellows	Number of yellow cones detected.
undefineds	Number of cones with undefined color detected.
conversion_duration	Duration of point cloud conversion in milliseconds.

Definition at line 83 of file performance_test.cpp.

Member Data Documentation

clustering

std::unique_ptr<Clustering> PerceptionPerformanceTest::clustering

Definition at line 118 of file performance_test.cpp.

cone_differentiator

std::unique_ptr<ConeDifferentiation> PerceptionPerformanceTest::cone_differentiator

Definition at line 119 of file performance_test.cpp.

DBSCAN_dist_threshold

float PerceptionPerformanceTest::DBSCAN_dist_threshold = 0.1

Definition at line 125 of file performance_test.cpp.

DBSCAN_neighbours_threshold

int PerceptionPerformanceTest::DBSCAN_neighbours_threshold = 1

Definition at line 126 of file performance_test.cpp.

ground_removal

std::unique_ptr<GroundRemoval> PerceptionPerformanceTest::ground_removal

Definition at line 117 of file performance_test.cpp.

inputFilesPaths

std::string PerceptionPerformanceTest::inputFilesPaths = "../../src/perception/test/point_clouds/"

Definition at line 115 of file performance_test.cpp.

output_statistics_path_file

std::string PerceptionPerformanceTest::output_statistics_path_file

Initial value:

= "../../performance/exec_time/perception/perception_" +
                                            get_current_date_time_as_string() + ".csv"

Definition at line 113 of file performance_test.cpp.

pcl_cloud

pcl::PointCloud<pcl::PointXYZI>::Ptr PerceptionPerformanceTest::pcl_cloud

Definition at line 120 of file performance_test.cpp.

RANSAC_eps

float PerceptionPerformanceTest::RANSAC_eps = 0.1

Definition at line 122 of file performance_test.cpp.

RANSAC_Iter

int PerceptionPerformanceTest::RANSAC_Iter = 20

Definition at line 123 of file performance_test.cpp.

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The documentation for this class was generated from the following file:

• src/perception/test/performance_test.cpp