test_point_preprocess.cpp File Reference

#include "pcod_common/point_preprocess.hpp"
#include <cassert>
#include <cmath>
#include <stdexcept>

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Functions
int	main ()

Function Documentation

main()

int main

(

)

Run point preprocessing regression checks.

Definition at line 11 of file test_point_preprocess.cpp.

           {
  pcod_common::PointPreprocessConfig config;
  config.x_min = -1.0f;
  config.x_max = 1.0f;
  config.y_min = -1.0f;
  config.y_max = 1.0f;
  config.z_min = -1.0f;
  config.z_max = 1.0f;
  config.normalization_type = pcod_common::PointFeatureNormalizationType::kValueThreshold;
  config.value_threshold = 10.0f;
  config.remove_points_in_zone = true;
  config.nd_x_min = -0.2f;
  config.nd_x_max = 0.2f;
  config.nd_y_min = -0.2f;
  config.nd_y_max = 0.2f;
  config.det_area_remove_outside = true;
  config.da_cx = 0.0f;
  config.da_cy = 0.0f;
  config.da_radius = 1.0f;
  config.da_bearing_rad = 0.0f;
  config.da_fov_rad = 1.5707963267948966f;
 
  pcod_common::PointPreprocessor preprocessor(config);
 
  assert(!preprocessor.IsPointValid(0.0f, 0.0f, 0.0f));
  assert(preprocessor.IsPointValid(0.6f, 0.0f, 0.0f));
  assert(!preprocessor.IsPointValid(0.0f, 0.6f, 0.0f));
  assert(!preprocessor.IsPointValid(2.0f, 0.0f, 0.0f));
 
  assert(std::abs(preprocessor.NormalizePointFeature(5.0f) - 0.5f) < 1e-6f);
  assert(std::abs(preprocessor.NormalizePointFeature(20.0f) - 1.0f) < 1e-6f);
  assert(std::abs(preprocessor.NormalizePointFeature(-1.0f) - 0.0f) < 1e-6f);
 
  {
    pcod_common::PointPreprocessConfig mm_cfg = config;
    mm_cfg.normalization_type = pcod_common::PointFeatureNormalizationType::kMinMax;
    mm_cfg.min_value = 10.0f;
    mm_cfg.max_value = 20.0f;
    pcod_common::PointPreprocessor minmax(mm_cfg);
    assert(std::abs(minmax.NormalizePointFeature(5.0f) - 0.0f) < 1e-6f);
    assert(std::abs(minmax.NormalizePointFeature(15.0f) - 0.5f) < 1e-6f);
    assert(std::abs(minmax.NormalizePointFeature(25.0f) - 1.0f) < 1e-6f);
  }
 
  {
    pcod_common::PointPreprocessConfig z_cfg = config;
    z_cfg.normalization_type = pcod_common::PointFeatureNormalizationType::kZScore;
    z_cfg.epsilon = 1e-3f;
    pcod_common::PointPreprocessor zscore(z_cfg);
    zscore.SetZScoreStats(10.0f, 2.0f);
    assert(std::abs(zscore.NormalizePointFeature(14.0f) - 2.0f) < 1e-6f);
  }
 
  {
    assert(pcod_common::ParsePointFeatureNormalizationType("none") == pcod_common::PointFeatureNormalizationType::kNone);
    assert(pcod_common::ParsePointFeatureNormalizationType("value_threshold") ==
           pcod_common::PointFeatureNormalizationType::kValueThreshold);
    assert(pcod_common::ParsePointFeatureNormalizationType("min_max") == pcod_common::PointFeatureNormalizationType::kMinMax);
    assert(pcod_common::ParsePointFeatureNormalizationType("z_score") == pcod_common::PointFeatureNormalizationType::kZScore);
    bool threw = false;
    try {
      (void)pcod_common::ParsePointFeatureNormalizationType("unsupported");
    } catch (const std::runtime_error&) {
      threw = true;
    }
    assert(threw);
  }
 
  return 0;
}

References pcod_common::PointPreprocessConfig::da_bearing_rad, pcod_common::PointPreprocessConfig::da_cx, pcod_common::PointPreprocessConfig::da_cy, pcod_common::PointPreprocessConfig::da_fov_rad, pcod_common::PointPreprocessConfig::da_radius, pcod_common::PointPreprocessConfig::det_area_remove_outside, pcod_common::PointPreprocessConfig::epsilon, pcod_common::PointPreprocessor::IsPointValid(), pcod_common::kMinMax, pcod_common::kNone, pcod_common::kValueThreshold, pcod_common::kZScore, pcod_common::PointPreprocessConfig::max_value, pcod_common::PointPreprocessConfig::min_value, pcod_common::PointPreprocessConfig::nd_x_max, pcod_common::PointPreprocessConfig::nd_x_min, pcod_common::PointPreprocessConfig::nd_y_max, pcod_common::PointPreprocessConfig::nd_y_min, pcod_common::PointPreprocessConfig::normalization_type, pcod_common::PointPreprocessor::NormalizePointFeature(), pcod_common::ParsePointFeatureNormalizationType(), pcod_common::PointPreprocessConfig::remove_points_in_zone, pcod_common::PointPreprocessor::SetZScoreStats(), pcod_common::PointPreprocessConfig::value_threshold, pcod_common::PointPreprocessConfig::x_max, pcod_common::PointPreprocessConfig::x_min, pcod_common::PointPreprocessConfig::y_max, pcod_common::PointPreprocessConfig::y_min, pcod_common::PointPreprocessConfig::z_max, and pcod_common::PointPreprocessConfig::z_min.