updated tests (bf2e89bd) · Commits · Zane Safi Mroue / ObjectDetectionVSLAM

src/main/java/object_detection/types/CameraIntrinsics.java

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		@@ -38,6 +38,25 @@ public class CameraIntrinsics {
		this.K = new DMatrixRMaj(ktemp);
		}

		/* ##########
		Getters
		########## */
		public float[] getFocalLength() {
		return FocalLength;
		}

		public float[] getPrincipalPoint() {
		return PrincipalPoint;
		}

		public float[] getImageSize() {
		return ImageSize;
		}

		public DMatrixRMaj getK() {
		return K;
		}

		/* ###############
		Members
		############### */

src/main/java/object_detection/types/CameraPose.java

+10 −0

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		@@ -39,6 +39,16 @@ public class CameraPose {
		});
		}

		/* ##########
		Getters
		########## */
		public DMatrixRMaj getR() {
		return R;
		}

		public DMatrixRMaj getTranslation() {
		return translation;
		}

		/* ##################
		Members

src/test/java/object_detection/BoundingBox2DTests.java

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		package object_detection;

		import static org.junit.jupiter.api.Assertions.*;
		import org.junit.jupiter.api.Test;
		import object_detection.types.*;

		class BoundingBox2DTests {

		@Test
		void testPointOnEachEdge() {
		BoundingBox2D box = new BoundingBox2D(0, 0, 10, 10, "vehicle");

		// Points on the boundaries of the box
		Point2D topEdge = new Point2D(5, 10);
		Point2D bottomEdge = new Point2D(5, 0);
		Point2D leftEdge = new Point2D(0, 5);
		Point2D rightEdge = new Point2D(10, 5);

		assertTrue(box.within(topEdge), "Point on top edge should be within");
		assertTrue(box.within(bottomEdge), "Point on bottom edge should be within");
		assertTrue(box.within(leftEdge), "Point on left edge should be within");
		assertTrue(box.within(rightEdge), "Point on right edge should be within");
		}

		@Test
		void testPointsJustOutsideEachEdge() {
		BoundingBox2D box = new BoundingBox2D(0, 0, 10, 10, "animal");

		// Points just outside the boundaries of the box
		Point2D leftOfBox = new Point2D(-1, 5);
		Point2D rightOfBox = new Point2D(11, 5);
		Point2D belowBox = new Point2D(5, -1);
		Point2D aboveBox = new Point2D(5, 11);

		assertFalse(box.within(leftOfBox), "Point just left of the bounding box should not be within");
		assertFalse(box.within(rightOfBox), "Point just right of the bounding box should not be within");
		assertFalse(box.within(belowBox), "Point just below the bounding box should not be within");
		assertFalse(box.within(aboveBox), "Point just above the bounding box should not be within");
		}

		@Test
		void testZeroWidthHeightBoundingBox() {
		BoundingBox2D box = new BoundingBox2D(5, 5, 0, 0, "object");

		// Points to test
		Point2D exactPoint = new Point2D(5, 5);
		Point2D nearbyPoint1 = new Point2D(5, 4);
		Point2D nearbyPoint2 = new Point2D(6, 5);

		assertTrue(box.within(exactPoint), "Exact point should be within");
		assertFalse(box.within(nearbyPoint1), "Nearby point should not be within");
		assertFalse(box.within(nearbyPoint2), "Nearby point should not be within");
		}

		@Test
		void testLargeCoordinates() {
		BoundingBox2D box = new BoundingBox2D(0, 0, 10000, 10000, "space");

		// Points to test
		Point2D wellWithin = new Point2D(5000, 5000);
		Point2D justOutside = new Point2D(10001, 5000);

		assertTrue(box.within(wellWithin), "Point well within large bounding box should be within");
		assertFalse(box.within(justOutside), "Point just outside large bounding box should not be within");
		}
		}

src/test/java/object_detection/BoundingBox3DTests.java

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		package object_detection;

		import static org.junit.jupiter.api.Assertions.*;
		import org.junit.jupiter.api.BeforeEach;
		import org.junit.jupiter.api.Test;
		import object_detection.types.*;

		class BoundingBox3DTests {

		private PointSet ps;
		private BoundingBox3D box;

		@BeforeEach
		void setUp() {
		// Create a PointSet with some sample points
		ps = new PointSet(
		1,
		"object",
		new Point(1.0f, 2.0f, 3.0f),
		new Point(4.0f, 5.0f, 6.0f)
		);

		// Initialize a BoundingBox3D with this PointSet
		box = new BoundingBox3D(ps);
		}

		@Test
		void testBoundingBoxCreation() {
		assertNotNull(box, "BoundingBox3D should not be null after initialization");

		// Assuming BoundingBox3D internally manages the given PointSet
		assertEquals(ps, getPointSet(box), "BoundingBox3D should contain the same PointSet used during initialization");
		}

		// Helper function to access the PointSet within BoundingBox3D
		private PointSet getPointSet(BoundingBox3D box) {
		try {
		java.lang.reflect.Field field = box.getClass().getDeclaredField("ps");
		field.setAccessible(true);
		return (PointSet) field.get(box);
		} catch (Exception e) {
		fail("Failed to retrieve the PointSet from BoundingBox3D.");
		return null;
		}
		}
		}

src/test/java/object_detection/BoundingBoxTests.java

deleted100644 → 0

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		package object_detection;

		import static org.junit.jupiter.api.Assertions.*;
		import org.junit.jupiter.api.Test;
		import object_detection.types.*;

		class BoundingBoxTests {

		@Test
		void testPointOnEachEdge() {
		Point2D tr = new Point2D(10, 10, 1);
		Point2D tl = new Point2D(0, 10, 1);
		Point2D br = new Point2D(10, 0, 1);
		Point2D bl = new Point2D(0, 0, 1);
		BoundingBox box = new BoundingBox(tr, tl, br, bl, 1, "vehicle");

		// Assume points on the boundary should be considered outside
		assertFalse(box.within(new Point2D(5, 10, 1)), "Point on top edge should not be within");
		assertFalse(box.within(new Point2D(5, 0, 1)), "Point on bottom edge should not be within");
		assertFalse(box.within(new Point2D(0, 5, 1)), "Point on left edge should not be within");
		assertFalse(box.within(new Point2D(10, 5, 1)), "Point on right edge should not be within");
		}

		@Test
		void testPointsJustOutsideEachEdge() {
		Point2D tr = new Point2D(10, 10, 2);
		Point2D tl = new Point2D(0, 10, 2);
		Point2D br = new Point2D(10, 0, 2);
		Point2D bl = new Point2D(0, 0, 2);
		BoundingBox box = new BoundingBox(tr, tl, br, bl, 2, "animal");

		// Test points just outside the bounding box
		assertFalse(box.within(new Point2D(-1, 5, 2)), "Point just left of the bounding box");
		assertFalse(box.within(new Point2D(11, 5, 2)), "Point just right of the bounding box");
		assertFalse(box.within(new Point2D(5, -1, 2)), "Point just below the bounding box");
		assertFalse(box.within(new Point2D(5, 11, 2)), "Point just above the bounding box");
		}

		@Test
		void testZeroWidthHeightBoundingBox() {
		Point2D tr = new Point2D(5, 5, 3);
		Point2D tl = new Point2D(5, 5, 3);
		Point2D br = new Point2D(5, 5, 3);
		Point2D bl = new Point2D(5, 5, 3);
		BoundingBox box = new BoundingBox(tr, tl, br, bl, 3, "object");

		// Test that only the exact point is within
		//assertTrue(box.within(new Point2D(5, 5, 3)), "Exact point should be within");
		assertFalse(box.within(new Point2D(5, 4, 3)), "Nearby point should not be within");
		assertFalse(box.within(new Point2D(6, 5, 3)), "Nearby point should not be within");
		}

		@Test
		void testLargeCoordinates() {
		Point2D br = new Point2D(10000, 10000, 4);
		Point2D bl = new Point2D(0, 10000, 4);
		Point2D tr = new Point2D(10000, 0, 4);
		Point2D tl = new Point2D(0, 0, 4);
		BoundingBox box = new BoundingBox(tr, tl, br, bl, 4, "space");

		// Large coordinates inside the box
		assertTrue(box.within(new Point2D(5000, 5000, 4)), "Point well within large bounding box");
		assertFalse(box.within(new Point2D(10001, 5000, 4)), "Point just outside large bounding box");
		}
		}