test_intersection.cpp

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#include <gtest/gtest.h>

#include <swri_geometry_util/intersection.h>

TEST(IntersectionTests, Intersects)
{
  cv::Vec2d c;
  ASSERT_TRUE(swri_geometry_util::LineIntersection(
      cv::Vec2d(0, 5),
      cv::Vec2d(10, 5),
      cv::Vec2d(5, 0),
      cv::Vec2d(5, 10),
      c));

  EXPECT_FLOAT_EQ(5.0, c[0]);
  EXPECT_FLOAT_EQ(5.0, c[1]);

  ASSERT_TRUE(swri_geometry_util::LineIntersection(
      cv::Vec2d(0, 6),
      cv::Vec2d(10, 6),
      cv::Vec2d(5, 0),
      cv::Vec2d(5, 10),
      c));

  EXPECT_FLOAT_EQ(5.0, c[0]);
  EXPECT_FLOAT_EQ(6.0, c[1]);

  ASSERT_TRUE(swri_geometry_util::LineIntersection(
      cv::Vec2d(10, 6),
      cv::Vec2d(0, 6),
      cv::Vec2d(5, 10),
      cv::Vec2d(5, 0),
      c));

  EXPECT_FLOAT_EQ(5.0, c[0]);
  EXPECT_FLOAT_EQ(6.0, c[1]);

  ASSERT_TRUE(swri_geometry_util::LineIntersection(
      cv::Vec2d(5, 10),
      cv::Vec2d(5, 0),
      cv::Vec2d(10, 6),
      cv::Vec2d(0, 6),
      c));

  EXPECT_FLOAT_EQ(5.0, c[0]);
  EXPECT_FLOAT_EQ(6.0, c[1]);

  ASSERT_TRUE(swri_geometry_util::LineIntersection(
      cv::Vec2d(10, 10),
      cv::Vec2d(0, 0),
      cv::Vec2d(0, 10),
      cv::Vec2d(10, 0),
      c));

  EXPECT_FLOAT_EQ(5.0, c[0]);
  EXPECT_FLOAT_EQ(5.0, c[1]);

  ASSERT_TRUE(swri_geometry_util::LineIntersection(
      cv::Vec2d(-10, -10),
      cv::Vec2d(0, 0),
      cv::Vec2d(0, -10),
      cv::Vec2d(-10, 0),
      c));

  EXPECT_FLOAT_EQ(-5.0, c[0]);
  EXPECT_FLOAT_EQ(-5.0, c[1]);
}

TEST(IntersectionTests, Parallel)
{
  cv::Vec2d c;
  EXPECT_FALSE(swri_geometry_util::LineIntersection(
      cv::Vec2d(0, 0),
      cv::Vec2d(0, 0),
      cv::Vec2d(0, 0),
      cv::Vec2d(0, 0),
      c));

  EXPECT_FALSE(swri_geometry_util::LineIntersection(
      cv::Vec2d(0, 0),
      cv::Vec2d(10, 0),
      cv::Vec2d(0, 0),
      cv::Vec2d(10, 0),
      c));

  EXPECT_FALSE(swri_geometry_util::LineIntersection(
      cv::Vec2d(0, 0),
      cv::Vec2d(10, 0),
      cv::Vec2d(25, 0),
      cv::Vec2d(15, 0),
      c));

  EXPECT_FALSE(swri_geometry_util::LineIntersection(
      cv::Vec2d(0, 0),
      cv::Vec2d(10, 0),
      cv::Vec2d(0, -1),
      cv::Vec2d(10, -1),
      c));
}

// Run all the tests that were declared with TEST()
int main(int argc, char **argv)
{
  testing::InitGoogleTest(&argc, argv);

  return RUN_ALL_TESTS();
}