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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* 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.
*
*
*/
/** \author Nizar Sallem */
#include <pcl/test/gtest.h>
#include <pcl/common/gaussian.h>
TEST(PCL, GaussianKernel)
{
Eigen::VectorXf kernel(31);
kernel << 0.000888059f, 0.00158611f, 0.00272177f, 0.00448744f, 0.00710844f, 0.0108188f, 0.0158201f, 0.0222264f, 0.0300025f, 0.0389112f, 0.0484864f, 0.0580487f, 0.0667719f, 0.0737944f, 0.0783576f, 0.0799405f, 0.0783576f, 0.0737944f, 0.0667719f, 0.0580487f, 0.0484864f, 0.0389112f, 0.0300025f, 0.0222264f, 0.0158201f, 0.0108188f, 0.00710844f, 0.00448744f, 0.00272177f, 0.00158611f, 0.000888059f;
Eigen::VectorXf derivative(35);
derivative << 0.000168673f, 0.000307151f, 0.000535285f, 0.000892304f, 0.00142183f, 0.00216388f, 0.00314209f, 0.00434741f, 0.00572143f, 0.00714516f, 0.00843934f, 0.00938163f, 0.00974186f, 0.0093305f, 0.00804947f, 0.0059307f, 0.00314871f, 0.0f, -0.00314871f, -0.0059307f, -0.00804947f, -0.0093305f, -0.00974186f, -0.00938163f, -0.00843934f, -0.00714516f, -0.00572143f, -0.00434741f, -0.00314209f, -0.00216388f, -0.00142183f, -0.000892304f, -0.000535285f, -0.000307151f, -0.000168673f;
pcl::GaussianKernel gk;
Eigen::VectorXf computed_kernel, computed_derivative;
// Test kernel only version
gk.compute(5, computed_kernel);
EXPECT_EQ(kernel.size (), computed_kernel.size ());
for(Eigen::Index i = 0; i < kernel.size (); i++)
EXPECT_NEAR(kernel[i], computed_kernel[i], 1e-4);
// Test kernel and derivative version
gk.compute(5, computed_kernel, computed_derivative);
EXPECT_EQ(kernel.size (), computed_kernel.size ());
for(Eigen::Index i = 0; i < kernel.size (); i++)
EXPECT_NEAR(kernel[i], computed_kernel[i], 1e-4);
EXPECT_EQ(derivative.size (), computed_derivative.size ());
for(Eigen::Index i = 0; i < derivative.size (); i++)
EXPECT_NEAR(derivative[i], computed_derivative[i], 1e-4);
}
int main (int argc, char** argv)
{
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}
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