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feat(pointpainting_fusion): add test for painting util (#7169)
* add: unit test for inside bbox func Signed-off-by: tzhong518 <sworgun@gmail.com> * style(pre-commit): autofix * fix: correct param name Signed-off-by: tzhong518 <sworgun@gmail.com> * add: comment Signed-off-by: tzhong518 <sworgun@gmail.com> --------- Signed-off-by: tzhong518 <sworgun@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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perception/image_projection_based_fusion/test/test_pointpainting_fusion.cpp
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// Copyright 2024 TIER IV, Inc. | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#include <image_projection_based_fusion/pointpainting_fusion/node.hpp> | ||
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#include <gtest/gtest.h> | ||
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sensor_msgs::msg::RegionOfInterest createRoi( | ||
const int32_t x_offset, const int32_t y_offset, const int32_t width, const int32_t height) | ||
{ | ||
sensor_msgs::msg::RegionOfInterest roi; | ||
roi.x_offset = x_offset; | ||
roi.y_offset = y_offset; | ||
roi.width = width; | ||
roi.height = height; | ||
return roi; | ||
} | ||
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TEST(isInsideBboxTest, Inside) | ||
{ | ||
const sensor_msgs::msg::RegionOfInterest roi = createRoi(20, 20, 10, 10); | ||
bool result = image_projection_based_fusion::isInsideBbox(25.0, 25.0, roi, 1.0); | ||
EXPECT_TRUE(result); | ||
} | ||
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TEST(isInsideBboxTest, Border) | ||
{ | ||
const sensor_msgs::msg::RegionOfInterest roi = createRoi(20, 20, 10, 10); | ||
bool result = image_projection_based_fusion::isInsideBbox(20.0, 30.0, roi, 1.0); | ||
EXPECT_TRUE(result); | ||
} | ||
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TEST(isInsideBboxTest, Outside) | ||
{ | ||
const sensor_msgs::msg::RegionOfInterest roi = createRoi(20, 20, 10, 10); | ||
bool result = image_projection_based_fusion::isInsideBbox(15.0, 15.0, roi, 1.0); | ||
EXPECT_FALSE(result); | ||
} | ||
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TEST(isInsideBboxTest, Zero) | ||
{ | ||
const sensor_msgs::msg::RegionOfInterest roi = createRoi(0, 0, 0, 0); | ||
bool result = image_projection_based_fusion::isInsideBbox(0.0, 0.0, roi, 1.0); | ||
EXPECT_TRUE(result); | ||
} |