Function TEST

test/PLPSLAM/data/common_get_cell_indices.cc:17–60

}

TEST(common, valid_cases_1)
{
    // create an example perspective camera
    constexpr unsigned int cols = 2000;
    constexpr unsigned int rows = 1000;
    auto cam = create_perspective_camera(cols, rows, -0.1, 0.1);
    // create keypoints and those grid IDs
    std::vector<std::pair<cv::KeyPoint, std::pair<int, int>>> test_cases;
    constexpr float eps = 0.01;
    // - corners
    test_cases.emplace_back(std::make_pair(cv::KeyPoint{cam.img_bounds_.min_x_, cam.img_bounds_.min_y_, 0.0},
                                           std::make_pair(0, 0))); // top left
    test_cases.emplace_back(std::make_pair(cv::KeyPoint{cam.img_bounds_.max_x_ - eps, cam.img_bounds_.min_y_, 0.0},
                                           std::make_pair(cam.num_grid_cols_ - 1, 0))); // top right
    test_cases.emplace_back(std::make_pair(cv::KeyPoint{cam.img_bounds_.min_x_, cam.img_bounds_.max_y_ - eps, 0.0},
                                           std::make_pair(0, cam.num_grid_rows_ - 1))); // bottop left
    test_cases.emplace_back(std::make_pair(cv::KeyPoint{cam.img_bounds_.max_x_ - eps, cam.img_bounds_.max_y_ - eps, 0.0},
                                           std::make_pair(cam.num_grid_cols_ - 1, cam.num_grid_rows_ - 1))); // bottom right
    // - edges
    test_cases.emplace_back(std::make_pair(cv::KeyPoint{cols / 2.0, cam.img_bounds_.min_y_, 0.0},
                                           std::make_pair(cam.num_grid_cols_ / 2 - 1, 0))); // top center
    test_cases.emplace_back(std::make_pair(cv::KeyPoint{cols / 2.0, cam.img_bounds_.max_y_ - eps, 0.0},
                                           std::make_pair(cam.num_grid_cols_ / 2 - 1, cam.num_grid_rows_ - 1))); // bottom center
    test_cases.emplace_back(std::make_pair(cv::KeyPoint{cam.img_bounds_.min_x_, rows / 2.0, 0.0},
                                           std::make_pair(0, cam.num_grid_rows_ / 2 - 1))); // left center
    test_cases.emplace_back(std::make_pair(cv::KeyPoint{cam.img_bounds_.max_x_ - eps, rows / 2.0, 0.0},
                                           std::make_pair(cam.num_grid_cols_ - 1, cam.num_grid_rows_ / 2 - 1))); // right center

    // check
    for (const auto &test_case : test_cases)
    {
        // extract information
        const auto &keypt = test_case.first;
        const auto idx_x = test_case.second.first;
        const auto idx_y = test_case.second.second;
        // run the function
        int est_idx_x = -1;
        int est_idx_y = -1;
        const auto found = data::get_cell_indices(&cam, keypt, est_idx_x, est_idx_y);
        EXPECT_TRUE(found);
        EXPECT_EQ(est_idx_x, idx_x);
        EXPECT_EQ(est_idx_y, idx_y);
    }
}

TEST(common, valid_cases_2)
{