cv_laser_bridge_unittest.cpp

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#include <gtest/gtest.h>


#include <calibration_msgs/DenseLaserSnapshot.h>
#include <laser_cb_detector/cv_laser_bridge.h>

using namespace std;
using namespace laser_cb_detector;

static const bool DEBUG=false;

calibration_msgs::DenseLaserSnapshot buildSnapshot(double start_range, double start_intensity, double increment,
                                                   const unsigned int H, const unsigned int W)
{
  calibration_msgs::DenseLaserSnapshot snapshot;

  snapshot.readings_per_scan = W;
  snapshot.num_scans = H;

  snapshot.ranges.resize(H*W);
  snapshot.intensities.resize(H*W);

  for (unsigned int i=0; i<H*W; i++)
  {
    snapshot.ranges[i]      = start_range     + i*increment;
    snapshot.intensities[i] = start_intensity + i*increment;
  }

  return snapshot;
}

static const unsigned int NUM_SCANS = 5;
static const unsigned int RAYS_PER_SCAN = 10;
static const double eps = 1e-8;

void displayImage(cv::Mat &image)
{
  for (int i=0; i<image.rows; i++)
  {
    for (int j=0; j<image.cols; j++)
    {
      printf("%3u  ", image.at<unsigned char>(i, j));
    }
    printf("\n");
  }
}

TEST(CvLaserBridge, easy)
{
  CvLaserBridge bridge;

  calibration_msgs::DenseLaserSnapshot snapshot;

  snapshot = buildSnapshot(100.0, 0.0, 1.0, NUM_SCANS, RAYS_PER_SCAN);

  bool result;

  result = bridge.fromIntensity(snapshot, 0, 49);
  cv::Mat image = bridge.toCvMat();

  ASSERT_TRUE(result);
  ASSERT_TRUE(image.data);

  EXPECT_EQ(image.rows, (int) NUM_SCANS);
  EXPECT_EQ(image.cols,  (int) RAYS_PER_SCAN);

  if (DEBUG)
    displayImage(image);

  // Check the first and last pixel in the image
  EXPECT_EQ( (int) *((unsigned char*)(image.data)+0), 0);
  EXPECT_EQ( (int) *((unsigned char*)(image.data)+4*image.step + 9), 255);
}

TEST(CvLaserBridge, saturationTest)
{
  CvLaserBridge bridge;
  calibration_msgs::DenseLaserSnapshot snapshot;
  snapshot = buildSnapshot(100.0, 0.0, 1.0, NUM_SCANS, RAYS_PER_SCAN);

  bool result;
  result = bridge.fromIntensity(snapshot, 10, 20);
  cv::Mat image = bridge.toCvMat();
  ASSERT_TRUE(result);
  ASSERT_TRUE(image.data);

  EXPECT_EQ(image.rows, (int) NUM_SCANS);
  EXPECT_EQ(image.cols,  (int) RAYS_PER_SCAN);

  if (DEBUG)
    displayImage(image);

  // Check to make sure some of the pixels saturated near the beginning and end of the range
  EXPECT_EQ( (int) *((unsigned char*)(image.data)+5), 0);
  EXPECT_EQ( (int) *((unsigned char*)(image.data)+45), 255);
}



int main(int argc, char **argv){
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}