Class ObjectUpdateFunctorTests

clio/tests/test_object_update_functor.cpp:28–58

}

struct ObjectUpdateFunctorTests : public ::testing::Test {
  ObjectUpdateFunctorTests()
      : graph_info({{DsgLayers::SEGMENTS, 's'},
                    {DsgLayers::OBJECTS, 'o'},
                    {DsgLayers::PLACES, 'p'}}) {
    config.tasks = test::TestEmbeddingGroup::getDefault(2);
  }

  void SetUp() override {}

  void addSegment(size_t index,
                  double min,
                  double max,
                  std::optional<size_t> onehot_index = std::nullopt) {
    auto attrs = std::make_unique<KhronosObjectAttributes>();
    attrs->position << (min + max) / 2.0, 0.0, 0.0;

    Eigen::Vector3f x_min(min, -1.0, -1.0);
    Eigen::Vector3f x_max(max, 1.0, 1.0);
    attrs->bounding_box = BoundingBox(x_min, x_max);
    attrs->semantic_feature =
        test::TestEmbeddingGroup::getEmbedding(onehot_index.value_or(index));

    graph().emplaceNode(DsgLayers::SEGMENTS, NodeSymbol('s', index), std::move(attrs));
  }

  DynamicSceneGraph& graph() { return *graph_info.graph; }

  SharedDsgInfo graph_info;
  ObjectUpdateFunctor::Config config;
};

TEST_F(ObjectUpdateFunctorTests, AddEdges) {
  ObjectUpdateFunctor functor(config);