test_furniture_fit.cpp File Reference

#include <gtest/gtest.h>
#include <math.h>
#include <iostream>
#include <opencv2/highgui/highgui.hpp>
#include <image_geometry/pinhole_camera_model.h>
#include <ros/console.h>
#include <ros/package.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/distortion_models.h>
#include <ed/entity.h>
#include <ed/world_model.h>
#include <ed/models/model_loader.h>
#include <ed/update_request.h>
#include <ed/rendering.h>
#include <ed/uuid.h>
#include <ed/relations/transform_cache.h>
#include <geolib/Shape.h>
#include <geolib/sensors/DepthCamera.h>
#include <rgbd/image.h>
#include "tue/config/reader_writer.h"
#include "tue/config/loaders/sdf.h"
#include <ed/kinect/fitter.h>

Include dependency graph for test_furniture_fit.cpp:

Go to the source code of this file.

Classes
struct	EulerAngles
class	FurnitureFitTest
struct	ImageResolution
struct	Quaternion
class	TestSetup
	The TestSetup class contains all constant data for the test. More...

Functions
double	degToRad (double input)
	degToRad converts degrees to radians More...
bool	fitSupportingEntity (const rgbd::Image *image, const geo::Pose3D &sensor_pose, const ed::WorldModel &wm, const ed::UUID &entity_id, const double max_yaw_change, const Fitter &fitter, geo::Pose3D &new_pose)
	fitSupportingEntity fits a supporting entity More...
sensor_msgs::CameraInfo	getDefaultCamInfo (const ImageResolution &resolution)
double	getYaw (const geo::Mat3 &rotation)
int	main (int argc, char **argv)
void	moveFurnitureObject (const ed::UUID &id, const geo::Pose3D &new_pose, ed::WorldModel &wm)
void	summarizeResult (std::vector< geo::Pose3D > &succeeded_poses, std::vector< geo::Pose3D > &failed_poses)
	TEST_F (FurnitureFitTest, testCase)
EulerAngles	ToEulerAngles (Quaternion q)

Variables
const uint	CAM_RESOLUTION_HEIGHT = 480
const uint	CAM_RESOLUTION_WIDTH = 640
const double	MAX_POSITION_ERROR = 0.05
const double	MAX_YAW_ERROR_DEGREES = 5.0
const uint	NR_SUCCEEDED_POSES = 1089 - 106
const uint	NR_TEST_POSES = 1089
bool	SHOW_DEBUG_IMAGES = false

Function Documentation

degToRad()

double degToRad

(

double

input

)

degToRad converts degrees to radians

Parameters

input

Returns

Definition at line 103 of file test_furniture_fit.cpp.

fitSupportingEntity()

bool fitSupportingEntity	(	const rgbd::Image *	image,
		const geo::Pose3D &	sensor_pose,
		const ed::WorldModel &	wm,
		const ed::UUID &	entity_id,
		const double	max_yaw_change,
		const Fitter &	fitter,
		geo::Pose3D &	new_pose
	)

fitSupportingEntity fits a supporting entity

Parameters

image	depth image
sensor_pose	pose of the camera when the image was taken
wm	current world model
entity_id	id of the entity that will be fitted
max_yaw_change	max angle change
fitter
new_pose

Returns

success

Definition at line 150 of file test_furniture_fit.cpp.

getDefaultCamInfo()

sensor_msgs::CameraInfo getDefaultCamInfo

(

const ImageResolution &

resolution

)

Definition at line 115 of file test_furniture_fit.cpp.

getYaw()

double getYaw

(

const geo::Mat3 &

rotation

)

Definition at line 78 of file test_furniture_fit.cpp.

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 407 of file test_furniture_fit.cpp.

moveFurnitureObject()

void moveFurnitureObject	(	const ed::UUID &	id,
		const geo::Pose3D &	new_pose,
		ed::WorldModel &	wm
	)

Definition at line 131 of file test_furniture_fit.cpp.

summarizeResult()

void summarizeResult	(	std::vector< geo::Pose3D > &	succeeded_poses,
		std::vector< geo::Pose3D > &	failed_poses
	)

Definition at line 374 of file test_furniture_fit.cpp.

TEST_F()

TEST_F	(	FurnitureFitTest	,
		testCase
	)

Definition at line 389 of file test_furniture_fit.cpp.

ToEulerAngles()

EulerAngles ToEulerAngles

(

Quaternion

q

)

Definition at line 54 of file test_furniture_fit.cpp.

Variable Documentation

CAM_RESOLUTION_HEIGHT

const uint CAM_RESOLUTION_HEIGHT = 480

Definition at line 31 of file test_furniture_fit.cpp.

CAM_RESOLUTION_WIDTH

const uint CAM_RESOLUTION_WIDTH = 640

Definition at line 30 of file test_furniture_fit.cpp.

MAX_POSITION_ERROR

const double MAX_POSITION_ERROR = 0.05

Definition at line 33 of file test_furniture_fit.cpp.

MAX_YAW_ERROR_DEGREES

const double MAX_YAW_ERROR_DEGREES = 5.0

Definition at line 34 of file test_furniture_fit.cpp.

NR_SUCCEEDED_POSES

const uint NR_SUCCEEDED_POSES = 1089 - 106

Definition at line 39 of file test_furniture_fit.cpp.

NR_TEST_POSES

const uint NR_TEST_POSES = 1089

Definition at line 38 of file test_furniture_fit.cpp.

SHOW_DEBUG_IMAGES

bool SHOW_DEBUG_IMAGES = false

Definition at line 41 of file test_furniture_fit.cpp.