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00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #include <gtest/gtest.h> 00031 #include <sys/time.h> 00032 00033 #include "filters/median.h" 00034 00035 using namespace filters ; 00036 00037 void seed_rand() 00038 { 00039 //Seed random number generator with current microseond count 00040 timeval temp_time_struct; 00041 gettimeofday(&temp_time_struct,NULL); 00042 srand(temp_time_struct.tv_usec); 00043 }; 00044 00045 void generate_rand_vectors(double scale, uint64_t runs, std::vector<double>& xvalues, std::vector<double>& yvalues, std::vector<double>&zvalues) 00046 { 00047 seed_rand(); 00048 for ( uint64_t i = 0; i < runs ; i++ ) 00049 { 00050 xvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX; 00051 yvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX; 00052 zvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX; 00053 } 00054 } 00055 00056 TEST(MultiChannelMedianFilterDouble, ConfirmIdentityNRows) 00057 { 00058 double epsilon = 1e-6; 00059 int length = 5; 00060 int rows = 5; 00061 00062 MultiChannelFilterBase<double > * filter = new filters::MultiChannelMedianFilter<double>(); 00063 EXPECT_TRUE(filter->configure(rows, "MultiChannelMedianFilterDouble5")); 00064 00065 00066 double input1[] = {1,2,3,4,5}; 00067 double input1a[] = {11,12,13,14,15}; 00068 std::vector<double> v1 (input1, input1 + sizeof(input1) / sizeof(double)); 00069 std::vector<double> v1a (input1a, input1a + sizeof(input1a) / sizeof(double)); 00070 00071 for (int i =0; i < rows*10; i++) 00072 { 00073 EXPECT_TRUE(filter->update(v1, v1a)); 00074 00075 for (int j = 1; j < length; j++) 00076 { 00077 EXPECT_NEAR(input1[j], v1a[j], epsilon); 00078 } 00079 } 00080 00081 delete filter; 00082 } 00083 00084 TEST(MultiChannelMedianFilterDouble, ThreeRows) 00085 { 00086 double epsilon = 1e-6; 00087 int length = 5; 00088 int rows = 5; 00089 00090 MultiChannelFilterBase<double > * filter = new MultiChannelMedianFilter<double>(); 00091 EXPECT_TRUE(filter->configure(rows, "MultiChannelMedianFilterDouble5" )); 00092 00093 double input1[] = {0,1,2,3,4}; 00094 std::vector<double> v1 (input1, input1 + sizeof(input1) / sizeof(double)); 00095 double input2[] = {1,2,3,4,5}; 00096 std::vector<double> v2 (input2, input2 + sizeof(input2) / sizeof(double)); 00097 double input3[] = {2,3,4,5,6}; 00098 std::vector<double> v3 (input3, input3 + sizeof(input3) / sizeof(double)); 00099 double input1a[] = {1,2,3,4,5}; 00100 std::vector<double> v1a (input1a, input1a + sizeof(input1a) / sizeof(double)); 00101 00102 EXPECT_TRUE(filter->update(v1, v1a)); 00103 EXPECT_TRUE(filter->update(v2, v1a)); 00104 EXPECT_TRUE(filter->update(v3, v1a)); 00105 00106 for (int i = 1; i < length; i++) 00107 { 00108 EXPECT_NEAR(v2[i], v1a[i], epsilon); 00109 } 00110 00111 } 00112 00113 TEST(MultiChannelMedianFilterFloat, ConfirmIdentityNRows) 00114 { 00115 float epsilon = 1e-6; 00116 int length = 5; 00117 int rows = 5; 00118 00119 MultiChannelFilterBase<float > * filter = new filters::MultiChannelMedianFilter<float>(); 00120 EXPECT_TRUE(filter->configure(rows, "MultiChannelMedianFilterFloat5" )); 00121 00122 float input1[] = {1,2,3,4,5}; 00123 float input1a[] = {1,2,3,4,5}; 00124 std::vector<float> v1 (input1, input1 + sizeof(input1) / sizeof(float)); 00125 std::vector<float> v1a (input1a, input1a + sizeof(input1a) / sizeof(float)); 00126 00127 for (int i =0; i < rows*10; i++) 00128 { 00129 EXPECT_TRUE(filter->update(v1, v1a)); 00130 00131 for (int j = 1; j < length; j++) 00132 { 00133 EXPECT_NEAR(input1[j], v1a[j], epsilon); 00134 } 00135 } 00136 00137 delete filter; 00138 } 00139 00140 TEST(MultiChannelMedianFilterFloat, ThreeRows) 00141 { 00142 float epsilon = 1e-6; 00143 int length = 5; 00144 int rows = 5; 00145 00146 MultiChannelFilterBase<float > * filter = new MultiChannelMedianFilter<float>(); 00147 EXPECT_TRUE(filter->configure(rows, "MultiChannelMedianFilterFloat5")); 00148 00149 float input1[] = {0,1,2,3,4}; 00150 std::vector<float> v1 (input1, input1 + sizeof(input1) / sizeof(float)); 00151 float input2[] = {1,2,3,4,5}; 00152 std::vector<float> v2 (input2, input2 + sizeof(input2) / sizeof(float)); 00153 float input3[] = {2,3,4,5,6}; 00154 std::vector<float> v3 (input3, input3 + sizeof(input3) / sizeof(float)); 00155 float input1a[] = {1,2,3,4,5}; 00156 std::vector<float> v1a (input1a, input1a + sizeof(input1a) / sizeof(float)); 00157 00158 EXPECT_TRUE(filter->update(v1, v1a)); 00159 EXPECT_TRUE(filter->update(v2, v1a)); 00160 EXPECT_TRUE(filter->update(v3, v1a)); 00161 00162 for (int i = 1; i < length; i++) 00163 { 00164 EXPECT_NEAR(v2[i], v1a[i], epsilon); 00165 } 00166 00167 } 00168 00169 00170 int main(int argc, char **argv){ 00171 testing::InitGoogleTest(&argc, argv); 00172 ros::init(argc, argv, "test_median"); 00173 return RUN_ALL_TESTS(); 00174 }