void FilterApiTest::testFaceInterpretationFilter()
{
// Input data to feed to the filter
TimedXyzData inputData[] = {
TimedXyzData( 0, 0, 0,-981),
TimedXyzData(1000000, 0, 0, 981),
TimedXyzData(2000000, 0, 0,-981),
TimedXyzData(2100000, 0, 0, 981),
TimedXyzData(2200000, 0, 0,-981)
};
// Expected output data
PoseData expectedResult[] = {
PoseData( 0, PoseData::FaceUp),
PoseData(1000000, PoseData::FaceDown),
PoseData(2000000, PoseData::FaceUp),
};
int numInputs = (sizeof(inputData) / sizeof(TimedXyzData));
int numOutputs = (sizeof(expectedResult) / sizeof(PoseData));
FilterBase* faceInterpreterFilter = OrientationInterpreter::factoryMethod();
Bin filterBin;
DummyAdaptor<TimedXyzData> dummyAdaptor;
RingBuffer<PoseData> outputBuffer(10);
filterBin.add(&dummyAdaptor, "adapter");
filterBin.add(faceInterpreterFilter, "filter");
filterBin.add(&outputBuffer, "buffer");
filterBin.join("adapter", "source", "filter", "accsink");
filterBin.join("filter", "face", "buffer", "sink");
DummyDataEmitter<PoseData> dbusEmitter;
Bin marshallingBin;
marshallingBin.add(&dbusEmitter, "testdataemitter");
outputBuffer.join(&dbusEmitter);
// Setup data
dummyAdaptor.setTestData(numInputs, inputData);
dbusEmitter.setExpectedData(numOutputs, expectedResult);
marshallingBin.start();
filterBin.start();
for (int j=1; j < numInputs; j++){
dummyAdaptor.pushNewData();
}
filterBin.stop();
marshallingBin.stop();
QVERIFY2(numOutputs == dbusEmitter.numSamplesReceived(), "Too many/few outputs from filter.");
delete faceInterpreterFilter;
}
//--------------------------------------------------------------------------------------------------
void initialiseTestPositions()
{
// Set up positions so that the high resolution camera can be calibrated
gHighResCalibrationPositions.clear();
gHighResCalibrationPositions.push_back(
PoseData( cv::Vec3d( 0.0, 0.1, 0.8 ),
cv::Vec3d( 0.0, Utilities::degToRad( 180.0 ), 0.0 ) ) );
// Rotate around X
gHighResCalibrationPositions.push_back(
PoseData( cv::Vec3d( 0.0, 0.1, 0.8 ),
cv::Vec3d( 0.0, Utilities::degToRad( 140.0 ), 0.0 ) ) );
gHighResCalibrationPositions.push_back(
PoseData( cv::Vec3d( 0.0, 0.1, 0.8 ),
cv::Vec3d( 0.0, Utilities::degToRad( 220.0 ), 0.0 ) ) );
// Rotate around Y
gHighResCalibrationPositions.push_back(
PoseData( cv::Vec3d( 0.0, 0.1, 0.8 ),
cv::Vec3d( Utilities::degToRad( -40.0 ), Utilities::degToRad( 180.0 ), 0.0 ) ) );
gHighResCalibrationPositions.push_back(
PoseData( cv::Vec3d( 0.0, 0.1, 0.8 ),
cv::Vec3d( Utilities::degToRad( 40.0 ), Utilities::degToRad( 180.0 ), 0.0 ) ) );
// Rotate around Z
gHighResCalibrationPositions.push_back(
PoseData( cv::Vec3d( 0.0, 0.1, 0.8 ),
cv::Vec3d( 0.0, Utilities::degToRad( 180.0 ), Utilities::degToRad( -40.0 ) ) ) );
gHighResCalibrationPositions.push_back(
PoseData( cv::Vec3d( 0.0, 0.1, 0.8 ),
cv::Vec3d( 0.0, Utilities::degToRad( 180.0 ), Utilities::degToRad( 40.0 ) ) ) );
// Set up positions so that the relative camera poses can be found
gRelativeCalibrationPositions.clear();
gRelativeCalibrationPositions.push_back(
PoseData( cv::Vec3d( 0.0, 0.1, 0.8 ),
cv::Vec3d( 0.0, Utilities::degToRad( 180.0 ), 0.0 ) ) );
// Rotate around X
gRelativeCalibrationPositions.push_back(
PoseData( cv::Vec3d( 0.0, 0.1, 0.7 ),
cv::Vec3d( 0.0, Utilities::degToRad( 140.0 ), 0.0 ) ) );
gRelativeCalibrationPositions.push_back(
PoseData( cv::Vec3d( 0.0, 0.1, 0.9 ),
cv::Vec3d( 0.0, Utilities::degToRad( 220.0 ), 0.0 ) ) );
// Rotate around Y
gRelativeCalibrationPositions.push_back(
PoseData( cv::Vec3d( 0.0, 0.1, 0.8 ),
cv::Vec3d( Utilities::degToRad( -40.0 ), Utilities::degToRad( 180.0 ), 0.0 ) ) );
gRelativeCalibrationPositions.push_back(
PoseData( cv::Vec3d( 0.0, 0.1, 0.7 ),
cv::Vec3d( Utilities::degToRad( 40.0 ), Utilities::degToRad( 180.0 ), 0.0 ) ) );
// Rotate around Z
gRelativeCalibrationPositions.push_back(
PoseData( cv::Vec3d( 0.0, 0.1, 0.8 ),
cv::Vec3d( 0.0, Utilities::degToRad( 180.0 ), Utilities::degToRad( -40.0 ) ) ) );
gRelativeCalibrationPositions.push_back(
PoseData( cv::Vec3d( 0.0, 0.1, 0.9 ),
cv::Vec3d( 0.0, Utilities::degToRad( 180.0 ), Utilities::degToRad( 40.0 ) ) ) );
}
void FilterApiTest::testOrientationInterpretationFilter()
{
// Input data to feed to the filter
TimedXyzData inputData[] = {
TimedXyzData( 0,-981, 0, 0),
TimedXyzData(1000000, 981, 0, 0),
TimedXyzData(2000000, 0,-981, 0),
TimedXyzData(3000000, 0, 981, 0),
TimedXyzData(4000000, 0, 0, -981),
TimedXyzData(5000000, 0, 0, 981)
};
// Expected output data
PoseData expectedResult[] = {
PoseData( 0, PoseData::RightUp),
PoseData(1000000, PoseData::LeftUp),
PoseData(2000000, PoseData::BottomDown),
PoseData(3000000, PoseData::BottomUp),
PoseData(4000000, PoseData::FaceUp),
PoseData(5000000, PoseData::FaceDown)
};
QVERIFY2((sizeof(inputData) / sizeof(TimedXyzData)) ==
(sizeof(expectedResult) / sizeof(PoseData)),
"Test function error: Input and output count does not match.");
int numInputs = (sizeof(inputData) / sizeof(TimedXyzData));
// Build data pipeline
Bin filterBin;
DummyAdaptor<TimedXyzData> dummyAdaptor;
FilterBase* orientationInterpreterFilter = OrientationInterpreter::factoryMethod();
RingBuffer<PoseData> outputBuffer(10);
filterBin.add(&dummyAdaptor, "adapter");
filterBin.add(orientationInterpreterFilter, "orientationfilter");
filterBin.add(&outputBuffer, "buffer");
filterBin.join("adapter", "source", "orientationfilter", "accsink");
filterBin.join("orientationfilter", "orientation", "buffer", "sink");
DummyDataEmitter<PoseData> dbusEmitter;
Bin marshallingBin;
marshallingBin.add(&dbusEmitter, "testdataemitter");
outputBuffer.join(&dbusEmitter);
// Setup data
dummyAdaptor.setTestData(numInputs, inputData);
dbusEmitter.setExpectedData(numInputs, expectedResult);
marshallingBin.start();
filterBin.start();
// Start sends data once, so start from index 1.
for (int i = 0; i < numInputs; ++i) {
dummyAdaptor.pushNewData();
}
filterBin.stop();
marshallingBin.stop();
QCOMPARE (dummyAdaptor.getDataCount(), dbusEmitter.numSamplesReceived());
delete orientationInterpreterFilter;
}
