test_shape_extraction.cpp

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/*
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// Author: Michael Ferguson
 
#include <gtest/gtest.h>
#include <simple_grasping/shape_extraction.h>
 
TEST(test_shape_extraction, simple_cube)
{
  // simple cube 4 corners of cube, plus one extra point
  pcl::PointCloud<pcl::PointXYZRGB> cloud;
  pcl::PointXYZRGB p;
  p.x = 0.2;
  p.y = 0.1;
  p.z = 0.1;
  cloud.push_back(p);
  p.x = 0.25;
  p.y = 0.1;
  cloud.push_back(p);
  p.x = 0.25;
  p.y = 0.15;
  cloud.push_back(p);
  p.x = 0.2;
  p.y = 0.15;
  cloud.push_back(p);
  p.x = 0.225;
  p.y = 0.14;
  cloud.push_back(p);
 
  pcl::PointCloud<pcl::PointXYZRGB> output;
 
  // create a plane at z = 0.05
  pcl::ModelCoefficients::Ptr plane(new pcl::ModelCoefficients);
  plane->values.resize(4);
  plane->values[0] = 0.0;
  plane->values[1] = 0.0;
  plane->values[2] = 1.0;
  plane->values[3] = -0.05;
 
  shape_msgs::SolidPrimitive shape;
  geometry_msgs::Pose pose;
 
  bool ret = simple_grasping::extractShape(cloud, plane, output, shape, pose);
  EXPECT_TRUE(ret);
 
  EXPECT_EQ(shape.BOX, shape.type);
  ASSERT_EQ(3, shape.dimensions.size());
  EXPECT_FLOAT_EQ(0.05, shape.dimensions[0]);
  EXPECT_FLOAT_EQ(0.05, shape.dimensions[1]);
  EXPECT_FLOAT_EQ(0.05, shape.dimensions[2]);
 
  EXPECT_FLOAT_EQ(0.225, pose.position.x);
  EXPECT_FLOAT_EQ(0.125, pose.position.y);
  EXPECT_FLOAT_EQ(0.075, pose.position.z);
 
  EXPECT_FLOAT_EQ(0.0, pose.orientation.x);
  EXPECT_FLOAT_EQ(0.0, pose.orientation.y);
  EXPECT_FLOAT_EQ(0.0, pose.orientation.z);
  EXPECT_FLOAT_EQ(1.0, pose.orientation.w);
}
 
// Run all the tests that were declared with TEST()
int main(int argc, char **argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}