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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2014-, Open Perception, Inc.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#include <pcl/test/gtest.h>
#include <pcl/common/copy_point.h>
TEST (CopyPointTest, SameTypeWithoutColor)
{
{
pcl::PointXYZ p1 (1, 2, 3), p2 (4, 5, 6);
pcl::copyPoint (p1, p2);
EXPECT_FLOAT_EQ (p1.x, p2.x);
EXPECT_FLOAT_EQ (p1.y, p2.y);
EXPECT_FLOAT_EQ (p1.z, p2.z);
}
{
pcl::Normal p1 (1, 2, 3), p2 (4, 5, 6);
pcl::copyPoint (p1, p2);
EXPECT_FLOAT_EQ (p1.normal_x, p2.normal_x);
EXPECT_FLOAT_EQ (p1.normal_y, p2.normal_y);
EXPECT_FLOAT_EQ (p1.normal_z, p2.normal_z);
}
}
TEST (CopyPointTest, SameTypeWithColor)
{
{
pcl::PointXYZRGBA p1, p2;
p1.getVector3fMap () << 1, 2, 3; p1.rgba = 0xFF0000FF;
pcl::copyPoint (p1, p2);
EXPECT_FLOAT_EQ (p1.x, p2.x);
EXPECT_FLOAT_EQ (p1.y, p2.y);
EXPECT_FLOAT_EQ (p1.z, p2.z);
EXPECT_EQ (p1.rgba, p2.rgba);
}
}
TEST (CopyPointTest, DifferentTypesWithoutColor)
{
{
pcl::PointXYZ p1 (1, 2, 3);
pcl::PointXYZL p2;
p2.getVector3fMap () << 4, 5, 5; p2.label = 1;
pcl::copyPoint (p1, p2);
EXPECT_FLOAT_EQ (p1.x, p2.x);
EXPECT_FLOAT_EQ (p1.y, p2.y);
EXPECT_FLOAT_EQ (p1.z, p2.z);
EXPECT_EQ (1, p2.label);
}
{
pcl::PointXY p1; p1.x = 1; p1.y = 2;
pcl::PointWithRange p2; p2.getVector3fMap () << 4, 5, 6; p2.range = 8;
pcl::copyPoint (p1, p2);
EXPECT_FLOAT_EQ (p1.x, p2.x);
EXPECT_FLOAT_EQ (p1.y, p2.y);
EXPECT_FLOAT_EQ (6, p2.z);
EXPECT_FLOAT_EQ (8, p2.range);
}
}
TEST (CopyPointTest, DifferentTypesOneWithColorAnotherWithout)
{
// Source without color
{
pcl::PointXYZ p1 (1, 2, 3);
pcl::PointXYZRGB p2;
p2.getVector3fMap () << 4, 5, 5; p2.rgba = 0xFFFF00;
pcl::copyPoint (p1, p2);
EXPECT_FLOAT_EQ (p1.x, p2.x);
EXPECT_FLOAT_EQ (p1.y, p2.y);
EXPECT_FLOAT_EQ (p1.z, p2.z);
EXPECT_EQ (0xFFFF00, p2.rgba);
}
// Target without color
{
pcl::PointXYZRGBNormal p1; p1.getVector3fMap () << 1, 2, 3; p1.rgba = 0xFF0000;
pcl::PointWithRange p2; p2.getVector3fMap () << 4, 5, 6; p2.range = 8;
pcl::copyPoint (p1, p2);
EXPECT_FLOAT_EQ (p1.x, p2.x);
EXPECT_FLOAT_EQ (p1.y, p2.y);
EXPECT_FLOAT_EQ (p1.z, p2.z);
EXPECT_FLOAT_EQ (8, p2.range);
}
}
TEST (CopyPointTest, DifferentTypesWithDifferentColor)
{
{
pcl::RGB p1;
pcl::PointXYZRGB p2; p2.getVector3fMap () << 4, 5, 6; p2.r = 7; p2.g = 8; p2.b = 9, p2.a = 10;
pcl::copyPoint (p1, p2);
EXPECT_EQ (p1.rgba, p2.rgba);
EXPECT_FLOAT_EQ (4, p2.x);
EXPECT_FLOAT_EQ (5, p2.y);
EXPECT_FLOAT_EQ (6, p2.z);
}
{
pcl::PointXYZRGBNormal p1; p1.getVector3fMap () << 1, 2, 3; p1.r = 7; p1.g = 8; p1.b = 9;
pcl::PointXYZRGBL p2; p2.getVector3fMap () << 4, 5, 6; p2.r = 3; p2.g = 2; p2.b = 1; p2.label = 8;
pcl::copyPoint (p1, p2);
EXPECT_FLOAT_EQ (p1.x, p2.x);
EXPECT_FLOAT_EQ (p1.y, p2.y);
EXPECT_FLOAT_EQ (p1.z, p2.z);
EXPECT_EQ (p1.rgba, p2.rgba);
EXPECT_EQ (8, p2.label);
}
{
pcl::PointXYZRGBA p1; p1.getVector3fMap () << 1, 2, 3; p1.rgba = 0xFF00FF;
pcl::PointXYZRGB p2; p2.getVector3fMap () << 4, 5, 6; p2.rgba = 0x00FF00;
pcl::copyPoint (p1, p2);
EXPECT_FLOAT_EQ (p1.x, p2.x);
EXPECT_FLOAT_EQ (p1.y, p2.y);
EXPECT_FLOAT_EQ (p1.z, p2.z);
EXPECT_EQ (p1.rgba, p2.rgba);
}
}
TEST (CopyPointTest, DifferentTypesWithSameColor)
{
{
pcl::RGB p1;
pcl::PointXYZRGBA p2; p2.getVector3fMap () << 4, 5, 6; p2.r = 7; p2.g = 8; p2.b = 9, p2.a = 10;
pcl::copyPoint (p1, p2);
EXPECT_EQ (p1.rgba, p2.rgba);
EXPECT_FLOAT_EQ (4, p2.x);
EXPECT_FLOAT_EQ (5, p2.y);
EXPECT_FLOAT_EQ (6, p2.z);
}
{
pcl::PointXYZRGBNormal p1; p1.getVector3fMap () << 1, 2, 3; p1.r = 7; p1.g = 8; p1.b = 9;
pcl::PointXYZRGB p2; p2.getVector3fMap () << 4, 5, 6; p2.r = 3; p2.g = 2; p2.b = 1;
pcl::copyPoint (p1, p2);
EXPECT_FLOAT_EQ (p1.x, p2.x);
EXPECT_FLOAT_EQ (p1.y, p2.y);
EXPECT_FLOAT_EQ (p1.z, p2.z);
EXPECT_EQ (p1.rgba, p2.rgba);
}
}
int
main (int argc, char **argv)
{
try
{
::testing::InitGoogleTest (&argc, argv);
::testing::FLAGS_gtest_death_test_style = "threadsafe";
return RUN_ALL_TESTS ();
}
catch (std::exception& e)
{
std::cerr << "Unhandled exception: " << e.what () << "\n";
}
return 1;
}
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