static char* test_encode_and_decode_compressed_large()
{
const int64_t limit = INT64_C(3600) * 1000 * 1000;
struct hdr_histogram* actual = NULL;
struct hdr_histogram* expected = NULL;
uint8_t* buffer = NULL;
size_t len = 0;
int rc = 0;
hdr_init(1, limit, 4, &expected);
srand(5);
int i;
for (i = 0; i < 8070; i++)
{
hdr_record_value(expected, rand() % limit);
}
rc = hdr_encode_compressed(expected, &buffer, &len);
mu_assert("Did not encode", validate_return_code(rc));
rc = hdr_decode_compressed(buffer, len, &actual);
mu_assert("Did not decode", validate_return_code(rc));
mu_assert("Loaded histogram is null", actual != NULL);
mu_assert(
"Comparison did not match",
compare_histogram(expected, actual));
free(expected);
free(actual);
return 0;
}
static char* test_encode_and_decode_compressed2()
{
load_histograms();
uint8_t* buffer = NULL;
size_t len = 0;
int rc = 0;
struct hdr_histogram* actual = NULL;
struct hdr_histogram* expected = cor_histogram;
rc = hdr_encode_compressed(expected, &buffer, &len);
mu_assert("Did not encode", validate_return_code(rc));
rc = hdr_decode_compressed(buffer, len, &actual);
mu_assert("Did not decode", validate_return_code(rc));
mu_assert("Loaded histogram is null", actual != NULL);
mu_assert(
"Comparison did not match",
compare_histogram(expected, actual));
free(actual);
return 0;
}
void segment_matching()
{
pcl::PointXYZ g1, g2;
for(int i=0;i<Object_Map.size();i++){
int c = 0;
if(Object_Map[i].tf != 1) continue;
g1 = Object_Map[i].g;
for(int j=0;j<Object_Map.size();j++){
if(Object_Map[j].tf != 2) continue;
g2 = Object_Map[j].g;
double dis;
dis = sqrt((g2.x-g1.x)*(g2.x-g1.x)+(g2.y-g1.y)*(g2.y-g1.y));
if(dis < 0.07) {
if((abs(Object_Map[j].size_x - Object_Map[i].size_x) < 5) && (abs(Object_Map[j].size_y - Object_Map[i].size_y) < 5)){
double avg1, avg2;
avg1 = average(Object_Map[j]);
avg2 = average(Object_Map[i]);
if(abs(avg1 - avg2) < 1.5){
if(abs(sqrt((double)variance(Object_Map[j], avg1)) - sqrt((double)variance(Object_Map[i], avg2))) < 10){
//カラー情報の比較
//HSV
if(compare_histogram(i, j)){
std::cout << i << " " << j << " 同じ物品" << std::endl;
Object_Map[i].tf = 0;
Object_Map[j].tf = 0;
c = 1;
break;
}
else std::cout << i << " " << j << " 色が違う" << std::endl;
}
else std::cout << i << " " << j << " 高さの分散が違う" << std::endl;
}
else std::cout << i << " " << j << " 高さの平均が違う" << abs(avg1 - avg2) << " " << avg1 << " " << avg2 << std::endl;
}
else std::cout << i << " " << j << " 広さが違う" << abs(Object_Map[j].size_x - Object_Map[i].size_x) << " " << abs(Object_Map[j].size_y - Object_Map[i].size_y) << std::endl;
}
else std::cout << i << " " << j << " 近くではない" << dis << std::endl;
}
if(c == 0) std::cout << i << " 変化箇所" << std::endl;
}
return;
}
static char* test_encode_decode_empty()
{
struct hdr_histogram *histogram, *hdr_new = NULL;
hdr_alloc(INT64_C(3600) * 1000 * 1000, 3, &histogram);
char *data;
mu_assert("Failed to encode histogram data", hdr_log_encode(histogram, &data) == 0);
mu_assert("Failed to decode histogram data", hdr_log_decode(&hdr_new, data, strlen(data)) == 0);
mu_assert("Histograms should be the same", compare_histogram(histogram, hdr_new));
// mu_assert("Mean different after encode/decode", compare_double(hdr_mean(histogram), hdr_mean(hdr_new), 0.001));
free(histogram);
free(hdr_new);
free(data);
return 0;
}
static char* test_string_encode_decode()
{
struct hdr_histogram *histogram, *hdr_new = NULL;
hdr_alloc(INT64_C(3600) * 1000 * 1000, 3, &histogram);
for (int i = 1; i < 100; i++)
{
hdr_record_value(histogram, i*i);
}
char *data;
mu_assert("Failed to encode histogram data", hdr_log_encode(histogram, &data) == 0);
mu_assert("Failed to decode histogram data", hdr_log_decode(&hdr_new, data, strlen(data)) == 0);
mu_assert("Histograms should be the same", compare_histogram(histogram, hdr_new));
mu_assert("Mean different after encode/decode", compare_double(hdr_mean(histogram), hdr_mean(hdr_new), 0.001));
return 0;
}
static char* test_string_encode_decode_2()
{
struct hdr_histogram *histogram, *hdr_new = NULL;
hdr_alloc(1000, 3, &histogram);
int i;
for (i = 1; i < histogram->highest_trackable_value; i++)
{
hdr_record_value(histogram, i);
}
char *data;
mu_assert(
"Failed to encode histogram data", validate_return_code(hdr_log_encode(histogram, &data)));
mu_assert(
"Failed to decode histogram data", validate_return_code(hdr_log_decode(&hdr_new, data, strlen(data))));
mu_assert("Histograms should be the same", compare_histogram(histogram, hdr_new));
mu_assert("Mean different after encode/decode", compare_double(hdr_mean(histogram), hdr_mean(hdr_new), 0.001));
return 0;
}
static char* writes_and_reads_log()
{
const char* file_name = "histogram.log";
hdr_timespec timestamp;
hdr_timespec interval;
hdr_gettime(×tamp);
interval.tv_sec = 5;
interval.tv_nsec = 2000000;
struct hdr_log_writer writer;
struct hdr_log_reader reader;
hdr_log_writer_init(&writer);
hdr_log_reader_init(&reader);
int rc = 0;
FILE* log_file = fopen(file_name, "w+");
rc = hdr_log_write_header(&writer, log_file, "Test log", ×tamp);
mu_assert("Failed header write", validate_return_code(rc));
hdr_log_write(&writer, log_file, ×tamp, &interval, cor_histogram);
mu_assert("Failed corrected write", validate_return_code(rc));
hdr_log_write(&writer, log_file, ×tamp, &interval, raw_histogram);
mu_assert("Failed raw write", validate_return_code(rc));
fprintf(log_file, "\n");
fflush(log_file);
fclose(log_file);
log_file = fopen(file_name, "r");
struct hdr_histogram* read_cor_histogram = NULL;
struct hdr_histogram* read_raw_histogram = NULL;
rc = hdr_log_read_header(&reader, log_file);
mu_assert("Failed header read", validate_return_code(rc));
mu_assert("Incorrect major version", compare_int(reader.major_version, 1));
mu_assert("Incorrect minor version", compare_int(reader.minor_version, 2));
mu_assert(
"Incorrect start timestamp",
compare_timespec(&reader.start_timestamp, ×tamp));
hdr_timespec actual_timestamp;
hdr_timespec actual_interval;
rc = hdr_log_read(
&reader, log_file, &read_cor_histogram,
&actual_timestamp, &actual_interval);
mu_assert("Failed corrected read", validate_return_code(rc));
mu_assert(
"Incorrect first timestamp", compare_timespec(&actual_timestamp, ×tamp));
mu_assert(
"Incorrect first interval", compare_timespec(&actual_interval, &interval));
rc = hdr_log_read(&reader, log_file, &read_raw_histogram, NULL, NULL);
mu_assert("Failed raw read", validate_return_code(rc));
mu_assert(
"Histograms do not match",
compare_histogram(cor_histogram, read_cor_histogram));
mu_assert(
"Histograms do not match",
compare_histogram(raw_histogram, read_raw_histogram));
rc = hdr_log_read(&reader, log_file, &read_cor_histogram, NULL, NULL);
mu_assert("No EOF at end of file", rc == EOF);
fclose(log_file);
remove(file_name);
return 0;
}
