From 12d5908f1d8a3b434020531af9bfd296abc9b853 Mon Sep 17 00:00:00 2001
From: asantamaria <asantamaria@iri.upc.edu>
Date: Sat, 28 Apr 2018 10:12:19 +0200
Subject: [PATCH] Add FeatureIdxGrid TrackingGrid to gtest_vision_utils.cpp
---
src/test/gtest_vision_utils.cpp | 125 ++++++++++++++++++++++++++++++++
1 file changed, 125 insertions(+)
diff --git a/src/test/gtest_vision_utils.cpp b/src/test/gtest_vision_utils.cpp
index c4bbee3..a039c4f 100644
--- a/src/test/gtest_vision_utils.cpp
+++ b/src/test/gtest_vision_utils.cpp
@@ -376,6 +376,131 @@ TEST(VisionUtils, FeatureIdxGrid)
result.push_back(elem.second);
ASSERT_EQ(result.size(),1);
ASSERT_EQ(result.at(0),1);
+
+
+ // Tracking grid
+ fg.clear();
+ // Check all are empty
+ for (unsigned int row=0;row<5;row++)
+ for (unsigned int col=0;col<5;col++)
+ ASSERT_TRUE(fg.pickEmptyTrackingCell(cell));
+
+ // Hit all by cell
+ for (unsigned int row=0;row<5;row++)
+ {
+ for (unsigned int col=0;col<5;col++)
+ {
+ cell << row, col;
+ fg.hitTrackingCell(cell);
+ }
+ }
+
+ // Check all are hit
+ for (unsigned int row=0;row<5;row++)
+ for (unsigned int col=0;col<5;col++)
+ ASSERT_FALSE(fg.pickEmptyTrackingCell(cell));
+
+ // Clear
+ fg.clear();
+ // Check all are empty
+ for (unsigned int row=0;row<5;row++)
+ for (unsigned int col=0;col<5;col++)
+ ASSERT_TRUE(fg.pickEmptyTrackingCell(cell));
+
+ // Hit all by [row, col]
+ for (unsigned int row=0;row<5;row++)
+ for (unsigned int col=0;col<5;col++)
+ fg.hitTrackingCell(row,col);
+
+ // Check all are hit
+ for (unsigned int row=0;row<5;row++)
+ for (unsigned int col=0;col<5;col++)
+ ASSERT_FALSE(fg.pickEmptyTrackingCell(cell));
+
+
+ // Clear
+ fg.clear();
+ // Check all are empty
+ for (unsigned int row=0;row<5;row++)
+ for (unsigned int col=0;col<5;col++)
+ ASSERT_TRUE(fg.pickEmptyTrackingCell(cell));
+
+ // Hit all by KeyPoint
+ for (unsigned int row=0;row<5;row++)
+ {
+ for (unsigned int col=0;col<5;col++)
+ {
+ cv::KeyPoint kp(row, col, CV_32F);
+ fg.hitTrackingCell(kp);
+ }
+ }
+
+ // Check all are hit
+ for (unsigned int row=0;row<5;row++)
+ for (unsigned int col=0;col<5;col++)
+ ASSERT_FALSE(fg.pickEmptyTrackingCell(cell));
+
+
+ // Block all (set to 0)
+ for (unsigned int row=0;row<5;row++)
+ {
+ for (unsigned int col=0;col<5;col++)
+ {
+ cell << row, col;
+ fg.blockTrackingCell(cell);
+ }
+ }
+
+ // Check all are blocked (empty)
+ for (unsigned int row=0;row<5;row++)
+ for (unsigned int col=0;col<5;col++)
+ ASSERT_TRUE(fg.pickEmptyTrackingCell(cell));
+
+ // Check hit + block
+ for (unsigned int row=0;row<5;row++)
+ {
+ for (unsigned int col=0;col<5;col++)
+ {
+ cell << row, col;
+ fg.hitTrackingCell(cell);
+ fg.blockTrackingCell(cell);
+ }
+ }
+
+ // Check all are blocked (empty)
+ for (unsigned int row=0;row<5;row++)
+ for (unsigned int col=0;col<5;col++)
+ ASSERT_TRUE(fg.pickEmptyTrackingCell(cell));
+
+ // Hit diagonal
+ fg.hitTrackingCell(0,0);
+ fg.hitTrackingCell(1,1);
+ fg.hitTrackingCell(2,2);
+ fg.hitTrackingCell(3,3);
+ fg.hitTrackingCell(4,4);
+
+ // Check the diagonal is not empty
+ for (unsigned int row=0;row<5;row++)
+ for (unsigned int col=0;col<5;col++)
+ {
+ bool empty = fg.pickEmptyTrackingCell(cell);
+ if (cell(0) == cell(1)) // diagonal must be hit
+ ASSERT_FALSE(empty);
+ else
+ ASSERT_TRUE(empty);
+ }
+
+ // block the diagonal
+ cell << 0,0; fg.blockTrackingCell(cell);
+ cell << 1,1; fg.blockTrackingCell(cell);
+ cell << 2,2; fg.blockTrackingCell(cell);
+ cell << 3,3; fg.blockTrackingCell(cell);
+ cell << 4,4; fg.blockTrackingCell(cell);
+
+ // Check all are blocked (empty)
+ for (unsigned int row=0;row<5;row++)
+ for (unsigned int col=0;col<5;col++)
+ ASSERT_TRUE(fg.pickEmptyTrackingCell(cell));
}
int main(int argc, char **argv) {
--
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