cylinder_validator_test.cpp

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#include <gtest/gtest.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
 
#include <cone_validator/cylinder_validator.hpp>
#include <utils/cluster.hpp>
#include <utils/plane.hpp>
 
// Non-owning deleter: does nothing.
template <typename T>
struct NonOwningDeleter {
  void operator()(T*) const {}
};
 
class CylinderValidatorTest : public ::testing::Test {
protected:
  void SetUp() override { plane = Plane(1, 0, 0, 0); }
  Plane plane;  
};
 
TEST_F(CylinderValidatorTest, PointsInsideSmallCylinder) {
  const CylinderValidator validator(0.5, 1.0, 0.7, 1.5, 0.5);
 
  pcl::PointCloud<pcl::PointXYZI> cloud;
  cloud.points.push_back(pcl::PointXYZI{0.3, 0.3, 0.5, 0});
  const pcl::PointCloud<pcl::PointXYZI>::Ptr cloud_ptr(
      &cloud, NonOwningDeleter<pcl::PointCloud<pcl::PointXYZI>>());
 
  Cluster cylinderPointCloud(cloud_ptr);
 
  std::vector<double> result = validator.coneValidator(&cylinderPointCloud, plane);
 
  // The centroid is at (0.3, 0.3, 0.5), so the distance to the point is 0.
 
  ASSERT_NEAR(result[0], 1.0, 1e-6);  // Distance XY ratio is 1 because the point is the centroid.
  ASSERT_NEAR(result[1], 1.0, 1e-6);  // Distance Z ratio is 1 because the point is the centroid.
  ASSERT_DOUBLE_EQ(result[2], 1.0);   // All points are inside the cylinder.
}
 
TEST_F(CylinderValidatorTest, PointsInsideLargeCylinder) {
  const CylinderValidator validator(0.5, 1.0, 0.7, 1.5, 0.5);
 
  pcl::PointCloud<pcl::PointXYZI> cloud;
  cloud.points.push_back(pcl::PointXYZI{0.6, 0.6, 1.2, 0});
  cloud.points.push_back(pcl::PointXYZI{0.3, 0.3, 0.5, 0});
  const pcl::PointCloud<pcl::PointXYZI>::Ptr cloud_ptr(
      &cloud, NonOwningDeleter<pcl::PointCloud<pcl::PointXYZI>>());
 
  Cluster cylinderPointCloud(cloud_ptr);
  // Simulate height validator and set cluster as large.
  cylinderPointCloud.set_is_large();
 
  std::vector<double> result = validator.coneValidator(&cylinderPointCloud, plane);
 
  // The centroid is at (0.45, 0.45, 0.85)
  // Both points are inside the large cylinder so the ratios are 1.
 
  ASSERT_NEAR(result[0], 1.0, 1e-6);  // Distance XY ratio is 1.
  ASSERT_NEAR(result[1], 1.0, 1e-6);  // Distance Z ratio is 1.
  ASSERT_DOUBLE_EQ(result[2], 1.0);   // All points are inside the cylinder.
}
 
TEST_F(CylinderValidatorTest, PointsFarOutsideCylinders) {
  const CylinderValidator validator(0.5, 1.0, 0.7, 1.5, 0.5);
 
  pcl::PointCloud<pcl::PointXYZI> cloud;
  cloud.points.push_back(pcl::PointXYZI{1.0, 1.0, 2.0, 0});
  cloud.points.push_back(pcl::PointXYZI{20.0, 20.0, 20.0, 0});
  cloud.points.push_back(pcl::PointXYZI{0.3, 0.3, 0.5, 0});
  const pcl::PointCloud<pcl::PointXYZI>::Ptr cloud_ptr(
      &cloud, NonOwningDeleter<pcl::PointCloud<pcl::PointXYZI>>());
 
  Cluster cylinderPointCloud(cloud_ptr);
 
  std::vector<double> result = validator.coneValidator(&cylinderPointCloud, plane);
 
  // The centroid is at (7.1, 7.1, 7.5)
  // All points are outside the cylinders, so the ratios are capped to 0.
 
  ASSERT_NEAR(result[0], 0.0, 1e-6);  // Distance XY ratio is 0.
  ASSERT_NEAR(result[1], 0.0, 1e-6);  // Distance Z ratio is 0.
  ASSERT_LT(result[2], 1.0);          // Some points are outside the cylinder.
}
 
TEST_F(CylinderValidatorTest, PointsOutsideCylinders) {
  const CylinderValidator validator(0.5, 1.0, 0.7, 1.5, 0.5);
 
  pcl::PointCloud<pcl::PointXYZI> cloud;
  cloud.points.push_back(pcl::PointXYZI{1.0, 1.0, 2.0, 0});
  cloud.points.push_back(pcl::PointXYZI{0.6, 0.6, 0.9, 0});
  cloud.points.push_back(pcl::PointXYZI{0.3, 0.3, 0.5, 0});
  const pcl::PointCloud<pcl::PointXYZI>::Ptr cloud_ptr(
      &cloud, NonOwningDeleter<pcl::PointCloud<pcl::PointXYZI>>());
 
  Cluster cylinderPointCloud(cloud_ptr);
 
  std::vector<double> result = validator.coneValidator(&cylinderPointCloud, plane);
 
  // Centroid is at (0.633333, 0.633333, 1.13333)
  // Distance to (1,1,2) is ~1.04, so ratio is 0.5/1.04 ~ 0.48, so it is capped to 0.0
 
  ASSERT_EQ(result[0], 0.0);  // Distance XY ratio is capped to 0.0.
  ASSERT_GE(result[1], 0.5);  // Distance Z ratio is higher than cap.
  ASSERT_LE(result[1], 1.0);  // Distance Z ratio is capped at 1.
  ASSERT_LT(result[2], 1.0);  // Some points are outside the cylinder.
}