least_squares_test.cpp

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#include <gtest/gtest.h>
 
#include <utils/cluster.hpp>
 
#include "cone_differentiation/least_squares_differentiation.hpp"
 
class LeastSquaresDifferentiationTest : public ::testing::Test {
protected:
  void SetUp() override {
    blue_cone = std::make_shared<pcl::PointCloud<pcl::PointXYZI>>();
    yellow_cone = std::make_shared<pcl::PointCloud<pcl::PointXYZI>>();
    pcl_cloud_2_points = std::make_shared<pcl::PointCloud<pcl::PointXYZI>>();
    real_blue_cone = std::make_shared<pcl::PointCloud<pcl::PointXYZI>>();
 
    blue_cone->points.push_back(pcl::PointXYZI{1.0, 0.0, 0.0, 20});
    blue_cone->points.push_back(pcl::PointXYZI{0.0, 1.0, 1, 20});
    blue_cone->points.push_back(pcl::PointXYZI{0.0, 0.0, 2.0, 21});
    blue_cone->points.push_back(pcl::PointXYZI{0.0060, 0.0060, 4.0, 60.0});
    blue_cone->points.push_back(pcl::PointXYZI{10, 10, 5, 70});
    blue_cone->points.push_back(pcl::PointXYZI{10, 10, 4.5, 65});
    blue_cone->points.push_back(pcl::PointXYZI{10, 10, 7, 49});
    blue_cone->points.push_back(pcl::PointXYZI{10, 10, 9, 30});
    blue_cone->points.push_back(pcl::PointXYZI{10, 10, 10, 20});
 
    yellow_cone->points.push_back(pcl::PointXYZI{1.0, 0.0, 0.0, 60});
    yellow_cone->points.push_back(pcl::PointXYZI{0.0, 1.0, 0, 70});
    yellow_cone->points.push_back(pcl::PointXYZI{0.0, 0.0, 2.0, 50});
    yellow_cone->points.push_back(pcl::PointXYZI{0.0060, 0.0060, 3.0, 50.0});
    yellow_cone->points.push_back(pcl::PointXYZI{10, 10, 4, 40});
    yellow_cone->points.push_back(pcl::PointXYZI{10, 10, 5, 20});
    yellow_cone->points.push_back(pcl::PointXYZI{10, 10, 6, 15});
    yellow_cone->points.push_back(pcl::PointXYZI{10, 10, 7, 30});
    yellow_cone->points.push_back(pcl::PointXYZI{10, 10, 8, 45});
    yellow_cone->points.push_back(pcl::PointXYZI{10, 10, 9, 60});
    yellow_cone->points.push_back(pcl::PointXYZI{10, 10, 10, 80});
 
    pcl_cloud_2_points->points.push_back(pcl::PointXYZI{1.0, 0.0, 0.0, 0.5});
    pcl_cloud_2_points->points.push_back(pcl::PointXYZI{0.0, 1.0, 0.0, 1.0});
 
    real_blue_cone->points.push_back(pcl::PointXYZI{1.0, 0.0, 0.3, 5});
    real_blue_cone->points.push_back(pcl::PointXYZI{1.0, 0.0, 0.3, 1});
    real_blue_cone->points.push_back(pcl::PointXYZI{1.0, 0.0, 0.3, 72});
    real_blue_cone->points.push_back(pcl::PointXYZI{1.0, 0.0, 0.27, 6});
  }
 
  pcl::PointCloud<pcl::PointXYZI>::Ptr blue_cone;
  pcl::PointCloud<pcl::PointXYZI>::Ptr yellow_cone;
  pcl::PointCloud<pcl::PointXYZI>::Ptr pcl_cloud_2_points;
  pcl::PointCloud<pcl::PointXYZI>::Ptr real_blue_cone;
  const LeastSquaresDifferentiation cone_differentiator;
};
 
TEST_F(LeastSquaresDifferentiationTest, TestYellowCone) {
  Cluster cluster(yellow_cone);
 
  cone_differentiator.coneDifferentiation(&cluster);
 
  ASSERT_EQ(cluster.get_color(), "yellow");
}
 
TEST_F(LeastSquaresDifferentiationTest, TestBlueCone) {
  Cluster cluster(blue_cone);
 
  cone_differentiator.coneDifferentiation(&cluster);
 
  ASSERT_EQ(cluster.get_color(), "blue");
}
 
TEST_F(LeastSquaresDifferentiationTest, TestUndefinedCone) {
  Cluster cluster(pcl_cloud_2_points);
 
  cone_differentiator.coneDifferentiation(&cluster);
 
  ASSERT_EQ(cluster.get_color(), "undefined");
}