GridMapCvProcessingTest.cpp File Reference

#include <chrono>
#include <cv_bridge/cv_bridge.h>
#include <grid_map_core/grid_map_core.hpp>
#include <grid_map_core/gtest_eigen.hpp>
#include <gtest/gtest.h>
#include "grid_map_cv/grid_map_cv.hpp"

Include dependency graph for GridMapCvProcessingTest.cpp:

Go to the source code of this file.

Functions
	TEST (GridMapCvProcessing, changeResolution)
	TEST (GridMapCvProcessing, changeResolutionForMovedMap)
	TEST (GridMap, TransformRotate90)
	TEST (GridMap, TransformRotate180)
	TEST (GridMap, TransformRotate270)
	TEST (GridMap, TransformRotate360)
	TEST (GridMap, TransformRotate45)
	TEST (GridMap, TransformTranslationXZY)
	TEST (GridMap, TransformUnaligned)
	TEST (GridMap, TransformComputationTime)

Function Documentation

TEST	(	GridMapCvProcessing	,
		changeResolution
	)

Definition at line 19 of file GridMapCvProcessingTest.cpp.

TEST	(	GridMapCvProcessing	,
		changeResolutionForMovedMap
	)

Definition at line 40 of file GridMapCvProcessingTest.cpp.

TEST	(	GridMap	,
		TransformRotate90
	)

We check that the marker we set in the top left corner is rotated accordingly.

    Rotate by 90° counter-clockwise.
 +------+
 |1     |
 |      |          +------------+
 |      |          |            |
 |      |  +--->   |1           |
 |      |          +------------+
 |      |
 +------+

Definition at line 76 of file GridMapCvProcessingTest.cpp.

TEST	(	GridMap	,
		TransformRotate180
	)

We check that the marker we set in the top left corner is rotated accordingly.

    Rotate by 180° counter-clockwise.
    +------+         +------+
    |1     |         |      |
    |      |         |      |
    |      |         |      |
    |      |  +--->  |      |
    |      |         |      |
    |      |         |     1|
    +------+         +------+

Definition at line 120 of file GridMapCvProcessingTest.cpp.

TEST	(	GridMap	,
		TransformRotate270
	)

We check that the marker we set in the top left corner is rotated accordingly.

    Rotate by 270° counter-clockwise / 90° clockwise.
 +------+
 |1     |
 |      |          +------------+
 |      |          |           1|
 |      |  +--->   |            |
 |      |          +------------+
 |      |
 +------+

Definition at line 165 of file GridMapCvProcessingTest.cpp.

TEST	(	GridMap	,
		TransformRotate360
	)

We check that the marker we set in the top left corner is rotated accordingly.

    Rotate by 36° counter-clockwise.
    +------+         +------+
    |1     |         |1     |
    |      |         |      |
    |      |         |      |
    |      |  +--->  |      |
    |      |         |      |
    |      |         |      |
    +------+         +------+

Definition at line 211 of file GridMapCvProcessingTest.cpp.

TEST	(	GridMap	,
		TransformRotate45
	)

Expected Result:

    map   rotate by 45°    transformedMap


                       +---------------------+
+--------+             |     XXX             |
|XXXXXXXX|             |   XXXXXXX           |
|XXXXXXXX|             | XXXXXXXXXXXX        |
|XXXXXXXX|             | XXXXXXXXXXXXXXX     |
|XXXXXXXX|             |XXXXXXXXXXXXXXXXX    |

2m |XXXXXXXX| +--—> | XXXXXXXXXXXXXXXXXX | sin(45°) * 1m + cos(45°) * 2m |XXXXXXXX| | XXXXXXXXXXXXXXXXXX| |XXXXXXXX| | XXXXXXXXXXXXXXX| = 2.121m |XXXXXXXX| | XXXXXXXXXXXXX| |XXXXXXXX| | XXXXXXXX | +-----—+ | XXX | 1m +------------------—+ 2.121m

Definition at line 265 of file GridMapCvProcessingTest.cpp.

TEST	(	GridMap	,
		TransformTranslationXZY
	)

Definition at line 291 of file GridMapCvProcessingTest.cpp.

TEST	(	GridMap	,
		TransformUnaligned
	)

Definition at line 323 of file GridMapCvProcessingTest.cpp.

TEST	(	GridMap	,
		TransformComputationTime
	)

Make sure to run this flag with optimization flags enabled. This test always succeeds.

Local output on 01.10.2020:

Transforming a 2 x 2 m GridMap with a resolution of 2 cm by 45° took: avg: 1.03322ms, min: 0.946455ms, max 1.51534ms

Definition at line 348 of file GridMapCvProcessingTest.cpp.