#include <combine_grids/grid_warper.h>
#include <gtest/gtest.h>
#include <ros/console.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <opencv2/core/utility.hpp>
#include "testing_helpers.h"
#include <combine_grids/merging_pipeline.h>

Include dependency graph for test_merging_pipeline.cpp:

Macros
#define	EXPECT_VALID_GRID(grid)

#define	private public

Functions
int	main (int argc, char **argv)

	TEST (MergingPipeline, canStich0Grid)

	TEST (MergingPipeline, canStich1Grid)

	TEST (MergingPipeline, canStich2Grids)

	TEST (MergingPipeline, canStichGridsGmapping)

	TEST (MergingPipeline, estimationAccuracy)

	TEST (MergingPipeline, transformsRoundTrip)

	TEST (MergingPipeline, setTransformsInternal)

	TEST (MergingPipeline, getTransformsInternal)

	TEST (MergingPipeline, setEmptyTransforms)

	TEST (MergingPipeline, emptyImageWithTransform)

	TEST (MergingPipeline, oneEmptyImage)

	TEST (MergingPipeline, knownInitPositions)

Variables
const std::array< const char *, 2 >	gmapping_maps

const std::array< const char *, 2 >	hector_maps

constexpr bool	verbose_tests = false

Macro Definition Documentation

◆ EXPECT_VALID_GRID

#define EXPECT_VALID_GRID ( grid )

Value:

ASSERT_TRUE(static_cast<bool>(grid));                                        \
  EXPECT_TRUE(consistentData(*grid));                                          \
  EXPECT_GT(grid->info.resolution, 0);                                         \
  EXPECT_TRUE(isIdentity(grid->info.origin.orientation))

Definition at line 59 of file test_merging_pipeline.cpp.

◆ private

#define private public

Definition at line 44 of file test_merging_pipeline.cpp.

Function Documentation

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 312 of file test_merging_pipeline.cpp.

◆ TEST() [1/12]

TEST	(	MergingPipeline	,
		canStich0Grid
	)

Definition at line 65 of file test_merging_pipeline.cpp.

◆ TEST() [2/12]

TEST	(	MergingPipeline	,
		canStich1Grid
	)

Definition at line 75 of file test_merging_pipeline.cpp.

◆ TEST() [3/12]

TEST	(	MergingPipeline	,
		canStich2Grids
	)

Definition at line 92 of file test_merging_pipeline.cpp.

◆ TEST() [4/12]

TEST	(	MergingPipeline	,
		canStichGridsGmapping
	)

Definition at line 110 of file test_merging_pipeline.cpp.

◆ TEST() [5/12]

TEST	(	MergingPipeline	,
		estimationAccuracy
	)

Definition at line 128 of file test_merging_pipeline.cpp.

◆ TEST() [6/12]

TEST	(	MergingPipeline	,
		transformsRoundTrip
	)

Definition at line 169 of file test_merging_pipeline.cpp.

◆ TEST() [7/12]

TEST	(	MergingPipeline	,
		setTransformsInternal
	)

Definition at line 191 of file test_merging_pipeline.cpp.

◆ TEST() [8/12]

TEST	(	MergingPipeline	,
		getTransformsInternal
	)

Definition at line 219 of file test_merging_pipeline.cpp.

◆ TEST() [9/12]

TEST	(	MergingPipeline	,
		setEmptyTransforms
	)

Definition at line 250 of file test_merging_pipeline.cpp.

◆ TEST() [10/12]

TEST	(	MergingPipeline	,
		emptyImageWithTransform
	)

Definition at line 263 of file test_merging_pipeline.cpp.

◆ TEST() [11/12]

TEST	(	MergingPipeline	,
		oneEmptyImage
	)

Definition at line 277 of file test_merging_pipeline.cpp.

◆ TEST() [12/12]

TEST	(	MergingPipeline	,
		knownInitPositions
	)

Definition at line 296 of file test_merging_pipeline.cpp.

Variable Documentation

◆ gmapping_maps

const std::array<const char*, 2> gmapping_maps

Initial value:

= {
    "2011-08-09-12-22-52.pgm",
    "2012-01-28-11-12-01.pgm",
}

Definition at line 52 of file test_merging_pipeline.cpp.

◆ hector_maps

const std::array<const char*, 2> hector_maps