test_median.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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 *     * Redistributions in binary form must reproduce the above copyright
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 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include <gtest/gtest.h>
#include <sys/time.h>
 
#include "filters/median.hpp"
 
using namespace filters ;
 
TEST(MultiChannelMedianFilterDouble, ConfirmIdentityNRows)
{
  double epsilon = 1e-6;
  int length = 5;
  int rows = 5;
  
  MultiChannelFilterBase<double > * filter = new filters::MultiChannelMedianFilter<double>();
  EXPECT_TRUE(filter->configure(rows, "MultiChannelMedianFilterDouble5"));
  
 
  double input1[] = {1,2,3,4,5};
  double input1a[] = {11,12,13,14,15};
  std::vector<double> v1 (input1, input1 + sizeof(input1) / sizeof(double));
  std::vector<double> v1a (input1a, input1a + sizeof(input1a) / sizeof(double));
 
  for (int i =0; i < rows*10; i++)
  {
    EXPECT_TRUE(filter->update(v1, v1a));
 
    for (int j = 1; j < length; j++)
    {
       EXPECT_NEAR(input1[j], v1a[j], epsilon);
    }
  }
 
  delete filter;
}
 
TEST(MultiChannelMedianFilterDouble, ThreeRows)
{
  double epsilon = 1e-6;
  int length = 5;
  int rows = 5;
 
  MultiChannelFilterBase<double > * filter = new MultiChannelMedianFilter<double>();
  EXPECT_TRUE(filter->configure(rows, "MultiChannelMedianFilterDouble5" ));
  
  double input1[] = {0,1,2,3,4};
  std::vector<double> v1 (input1, input1 + sizeof(input1) / sizeof(double));
  double input2[] = {1,2,3,4,5};
  std::vector<double> v2 (input2, input2 + sizeof(input2) / sizeof(double));
  double input3[] = {2,3,4,5,6};
  std::vector<double> v3 (input3, input3 + sizeof(input3) / sizeof(double));
  double input1a[] = {1,2,3,4,5};
  std::vector<double> v1a (input1a, input1a + sizeof(input1a) / sizeof(double));
 
  EXPECT_TRUE(filter->update(v1, v1a));
  EXPECT_TRUE(filter->update(v2, v1a));
  EXPECT_TRUE(filter->update(v3, v1a));
 
  for (int i = 1; i < length; i++)
  {
    EXPECT_NEAR(v2[i], v1a[i], epsilon);
  }
 
}
 
TEST(MultiChannelMedianFilterFloat, ConfirmIdentityNRows)
{
  float epsilon = 1e-6;
  int length = 5;
  int rows = 5;
  
  MultiChannelFilterBase<float > * filter = new filters::MultiChannelMedianFilter<float>();
  EXPECT_TRUE(filter->configure(rows, "MultiChannelMedianFilterFloat5" ));
 
  float input1[] = {1,2,3,4,5};
  float input1a[] = {1,2,3,4,5};
  std::vector<float> v1 (input1, input1 + sizeof(input1) / sizeof(float));
  std::vector<float> v1a (input1a, input1a + sizeof(input1a) / sizeof(float));
 
  for (int i =0; i < rows*10; i++)
  {
    EXPECT_TRUE(filter->update(v1, v1a));
 
    for (int j = 1; j < length; j++)
    {
       EXPECT_NEAR(input1[j], v1a[j], epsilon);
    }
  }
 
  delete filter;
}
 
TEST(MultiChannelMedianFilterFloat, ThreeRows)
{
  float epsilon = 1e-6;
  int length = 5;
  int rows = 5;
  
  MultiChannelFilterBase<float > * filter = new MultiChannelMedianFilter<float>();
  EXPECT_TRUE(filter->configure(rows, "MultiChannelMedianFilterFloat5"));
  
  float input1[] = {0,1,2,3,4};
  std::vector<float> v1 (input1, input1 + sizeof(input1) / sizeof(float));
  float input2[] = {1,2,3,4,5};
  std::vector<float> v2 (input2, input2 + sizeof(input2) / sizeof(float));
  float input3[] = {2,3,4,5,6};
  std::vector<float> v3 (input3, input3 + sizeof(input3) / sizeof(float));
  float input1a[] = {1,2,3,4,5};
  std::vector<float> v1a (input1a, input1a + sizeof(input1a) / sizeof(float));
 
  EXPECT_TRUE(filter->update(v1, v1a));
  EXPECT_TRUE(filter->update(v2, v1a));
  EXPECT_TRUE(filter->update(v3, v1a));
 
  for (int i = 1; i < length; i++)
  {
    EXPECT_NEAR(v2[i], v1a[i], epsilon);
  }
 
}
 
 
int main(int argc, char **argv){
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test_median");
  return RUN_ALL_TESTS();
}