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annotate trajectorymanagement/test/EuclideanMetricTest.cpp @ 1251:2b1c8fe8f7e4
added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Fri, 15 Mar 2024 17:05:54 -0400 |
parents | e1e7acef8eab |
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rev | line source |
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1 #include "EuclideanMetricTest.h" |
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2 |
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3 void EuclideanMetricTest::setUp(void) |
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4 { |
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5 trajectoryA = new Trajectory<CvPoint> (); |
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6 trajectoryB = new Trajectory<CvPoint> (); |
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7 metric = new EuclideanMetric<CvPoint, double> (); |
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8 } |
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9 |
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10 void EuclideanMetricTest::tearDown(void) |
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11 { |
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12 delete trajectoryA; |
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13 delete trajectoryB; |
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14 delete metric; |
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15 |
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16 trajectoryA = NULL; |
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17 trajectoryB = NULL; |
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18 metric = NULL; |
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19 } |
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20 |
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21 void EuclideanMetricTest::testMetric1(void) |
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22 { |
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23 double result = double(0); |
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24 CPPUNIT_ASSERT_THROW(metric->distance(trajectoryA, trajectoryB, result), TrajectoryLengthErrorException); |
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25 } |
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26 |
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27 void EuclideanMetricTest::testMetric2(void) |
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28 { |
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29 double result = double(0); |
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30 trajectoryA->add(cvPoint(0, 0)); |
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31 trajectoryB->add(cvPoint(0, 0)); |
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32 metric->distance(trajectoryA, trajectoryB, result); |
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33 CPPUNIT_ASSERT_EQUAL(result, double(0)); |
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34 } |
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35 |
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36 void EuclideanMetricTest::testMetric3(void) |
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37 { |
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38 double result = double(0); |
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39 trajectoryA->add(cvPoint(0, 0)); |
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40 trajectoryB->add(cvPoint(1, 1)); |
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41 metric->distance(trajectoryA, trajectoryB, result); |
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42 CPPUNIT_ASSERT_EQUAL(result, double(sqrt(2))); |
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43 } |
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44 |
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45 void EuclideanMetricTest::testMetric4(void) |
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46 { |
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47 double result = double(0); |
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48 trajectoryA->add(cvPoint(0, 0)); |
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49 trajectoryB->add(cvPoint(3, 4)); |
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50 metric->distance(trajectoryA, trajectoryB, result); |
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51 CPPUNIT_ASSERT_EQUAL(result, double(5)); |
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52 } |
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53 |
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54 void EuclideanMetricTest::testMetric5(void) |
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55 { |
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56 double result = double(0); |
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57 trajectoryA->add(cvPoint(0, 0)); |
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58 trajectoryA->add(cvPoint(-4, -3)); |
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59 trajectoryB->add(cvPoint(3, 4)); |
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60 trajectoryB->add(cvPoint(0, 0)); |
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61 metric->distance(trajectoryA, trajectoryB, result); |
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62 CPPUNIT_ASSERT_EQUAL(result, sqrt(double(50))); |
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63 } |
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64 |
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65 void EuclideanMetricTest::testMetric6(void) |
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66 { |
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67 double result = double(0); |
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68 unsigned n = 100; |
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69 unsigned maxRand = 10000; |
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70 srand(time(NULL)); |
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71 for (unsigned i = 0; i < n; ++i) |
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72 { |
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73 unsigned rand1 = rand() % maxRand; |
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74 unsigned rand2 = rand() % maxRand; |
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75 trajectoryA->add(cvPoint(rand1, rand2)); |
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76 trajectoryB ->add(cvPoint(rand1 + 3, rand2 + 4)); |
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77 } |
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78 metric->distance(trajectoryA, trajectoryB, result); |
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79 CPPUNIT_ASSERT_EQUAL(result, sqrt(double(n * 9 + n * 16))); |
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80 } |