Add simple test for feature merger

source/armarx/navigation/components/laser_scanner_feature_extraction/test/CMakeLists.txt

+# we can't let tests depend on the component so we create a dummy library
+# with the same code (except the component itself)
+armarx_add_library(laser_scanner_feature_extraction_test_library
+    SOURCES
+        #../Component.cpp
+        ../FeatureExtractor.cpp
+        ../FeatureMerger.cpp
+        ../ArVizDrawer.cpp
+        ../ScanClustering.cpp
+        ../ChainApproximation.cpp
+        ../conversions/eigen.cpp
+        ../conversions/pcl.cpp
+        ../conversions/features.cpp
+        ../EnclosingEllipsoid.cpp
+        ../Path.cpp
+        ../UnionFind.cpp
+    HEADERS
+        #../Component.h
+        ../FeatureExtractor.h
+        ../FeatureMerger.h
+        ../ArVizDrawer.h
+        ../ScanClustering.h
+        ../ChainApproximation.h
+        ../EnclosingEllipsoid.h
+        ../Path.h
+        ../geometry.h
+        ../conversions/eigen.h
+        ../conversions/pcl_eigen.h
+        ../conversions/opencv_eigen.h
+        ../conversions/opencv_pcl.h
+        ../conversions/pcl.h
+        ../conversions/features.h
+        ../UnionFind.h
+    DEPENDENCIES
+        ArmarXCore
+        ArmarXCoreComponentPlugins
+        ArmarXCoreLogging
+        RobotAPIComponentPlugins
+        RobotComponentsInterfaces
+        armarx_navigation::memory
+        armem_laser_scans
+        range-v3::range-v3
+    DEPENDENCIES_LEGACY
+        PCL
+)
 
-# Libs required for the tests
-SET(LIBS ${LIBS} ArmarXCore LaserScannerFeatureExtraction)
- 
-armarx_add_test(LaserScannerFeatureExtractionTest LaserScannerFeatureExtractionTest.cpp "${LIBS}")
+armarx_add_test(laser_scanner_feature_extraction_test
+    TEST_FILES
+        LaserScannerFeatureExtractionTest.cpp
+    DEPENDENCIES
+        ArmarXCore
+        armarx_navigation::laser_scanner_feature_extraction_test_library
+)
+
+armarx_add_test(laser_scanner_feature_extraction_merger_test
+    TEST_FILES
+        MergerTest.cpp
+    DEPENDENCIES
+        ArmarXCore
+        armarx_navigation::laser_scanner_feature_extraction_test_library
+)

source/armarx/navigation/components/laser_scanner_feature_extraction/test/LaserScannerFeatureExtractionTest.cpp

@@ -20,46 +20,52 @@
  *             GNU General Public License
  */
 
-#include "ArmarXCore/core/logging/Logging.h"
-#include "armarx/navigation/components/laser_scanner_feature_extraction/FeatureExtractor.h"
-#include <boost/test/tools/old/interface.hpp>
-#define BOOST_TEST_MODULE RobotComponents::ArmarXObjects::LaserScannerFeatureExtraction
-
-#define ARMARX_BOOST_TEST
+#include <iostream>
 
-#include <RobotComponents/Test.h>
+#include <ArmarXCore/core/logging/Logging.h>
 
-#include <pcl/point_types.h>
+#include <armarx/navigation/components/laser_scanner_feature_extraction/FeatureExtractor.h>
 
 #include "../EnclosingEllipsoid.h"
 
-#include <iostream>
 
-BOOST_AUTO_TEST_CASE(testExample)
+// test includes
+#define BOOST_TEST_MODULE Navigation::ArmarXObjects::LaserScannerFeatureExtraction
+#define ARMARX_BOOST_TEST
+
+#include <armarx/navigation/Test.h>
+
+namespace armarx::navigation::components::laser_scanner_feature_extraction
 {
-    // Ground truth (GT) ellipsoid with params:
-    //  center = (0,0)
-    //  radii = (4,2)
-    //  angle = 0
-    armarx::laser_scanner_feature_extraction::FeatureExtractor::Points points;
-    points.push_back(Eigen::Vector2f{-4.F, 0});
-    points.push_back(Eigen::Vector2f{0, 2.F});
-    points.push_back(Eigen::Vector2f{4.F, 0});
-    points.push_back(Eigen::Vector2f{0, -2.F});
-
-    const Eigen::Vector2f radii(4, 2);
-
-    armarx::laser_scanner_feature_extraction::EnclosingEllipsoid ee(points);
-
-    // The computed ellipsoid must contain the GT ellipsoid
-    BOOST_CHECK_GE(ee.radii.x(), 4.F);
-    BOOST_CHECK_GE(ee.radii.y(), 2.F);
-
-    // ... but should not be too large
-    BOOST_CHECK_LE(ee.radii.x(), 4.1F);
-    BOOST_CHECK_LE(ee.radii.y(), 2.1F);
-
-    // The computed ellipsoid must be roughly at the position of the GT ellipsoid
-    BOOST_CHECK_LT(std::fabs(ee.pose.translation().x()), 0.1);
-    BOOST_CHECK_LT(std::fabs(ee.pose.translation().y()), 0.1);
-}
+
+    BOOST_AUTO_TEST_CASE(testExample)
+    {
+        // Ground truth (GT) ellipsoid with params:
+        //  center = (0,0)
+        //  radii = (4,2)
+        //  angle = 0
+
+        FeatureExtractor::Points points;
+        points.push_back(Eigen::Vector2f{-4.F, 0});
+        points.push_back(Eigen::Vector2f{0, 2.F});
+        points.push_back(Eigen::Vector2f{4.F, 0});
+        points.push_back(Eigen::Vector2f{0, -2.F});
+
+        const Eigen::Vector2f radii(4, 2);
+
+        EnclosingEllipsoid ee(points);
+
+        // The computed ellipsoid must contain the GT ellipsoid
+        BOOST_CHECK_GE(ee.radii.x(), 4.F);
+        BOOST_CHECK_GE(ee.radii.y(), 2.F);
+
+        // ... but should not be too large
+        BOOST_CHECK_LE(ee.radii.x(), 4.1F);
+        BOOST_CHECK_LE(ee.radii.y(), 2.1F);
+
+        // The computed ellipsoid must be roughly at the position of the GT ellipsoid
+        BOOST_CHECK_LT(std::fabs(ee.pose.translation().x()), 0.1);
+        BOOST_CHECK_LT(std::fabs(ee.pose.translation().y()), 0.1);
+    }
+
+} // namespace armarx::navigation::components::laser_scanner_feature_extraction

source/armarx/navigation/components/laser_scanner_feature_extraction/test/MergerTest.cpp

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotComponents::ArmarXObjects::LaserScannerFeatureExtraction
+ * @author     Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date       2021
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include <iostream>
+
+#include <ArmarXCore/core/logging/Logging.h>
+
+#include <armarx/navigation/components/laser_scanner_feature_extraction/FeatureMerger.h>
+
+#include "../EnclosingEllipsoid.h"
+
+
+// test includes
+#define BOOST_TEST_MODULE Navigation::ArmarXObjects::LaserScannerFeatureExtraction
+#define ARMARX_BOOST_TEST
+
+#include <armarx/navigation/Test.h>
+
+namespace armarx::navigation::components::laser_scanner_feature_extraction
+{
+
+    BOOST_AUTO_TEST_CASE(insideConvexPolyTest)
+    {
+        std::vector<Eigen::Vector2f> polygon;
+        polygon.push_back({0, 0});
+        polygon.push_back({1, 1});
+        polygon.push_back({0, 2});
+        polygon.push_back({-1, 1});
+
+        BOOST_CHECK(FeatureMerger::insideConvexPoly({0, 1}, polygon));
+        BOOST_CHECK(FeatureMerger::insideConvexPoly({0.5, 1}, polygon));
+        BOOST_CHECK(FeatureMerger::insideConvexPoly({-0.5, 1}, polygon));
+
+        BOOST_CHECK(FeatureMerger::insideConvexPoly({0, 2}, polygon));
+        BOOST_CHECK(FeatureMerger::insideConvexPoly({1, 1}, polygon));
+
+        BOOST_CHECK(FeatureMerger::insideConvexPoly({-0.5, 0.5}, polygon));
+        BOOST_CHECK(FeatureMerger::insideConvexPoly({-0.5, 0.51}, polygon));
+        BOOST_CHECK(!FeatureMerger::insideConvexPoly({-0.5, 0.49}, polygon));
+
+        BOOST_CHECK(!FeatureMerger::insideConvexPoly({1.1, 1}, polygon));
+        BOOST_CHECK(!FeatureMerger::insideConvexPoly({0, 2.1}, polygon));
+        BOOST_CHECK(!FeatureMerger::insideConvexPoly({0, -0.1}, polygon));
+        BOOST_CHECK(!FeatureMerger::insideConvexPoly({-1, 2}, polygon));
+    }
+
+} // namespace armarx::navigation::components::laser_scanner_feature_extraction