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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.
*
* $Id$
*/
/** \author Nizar Sallem */
#include <pcl/test/gtest.h>
#include <pcl/common/pca.h>
#include <pcl/point_types.h>
#include <pcl/pcl_tests.h>
using namespace pcl::test;
pcl::PointCloud<pcl::PointXYZ> cloud;
pcl::PCA<pcl::PointXYZ> pca;
TEST(PCA, projection)
{
pcl::PointXYZ projected, reconstructed;
for(const auto &point : cloud)
{
pca.project (point, projected);
pca.reconstruct (projected, reconstructed);
EXPECT_NEAR_VECTORS (reconstructed.getVector3fMap (), point.getVector3fMap (), 5e-4);
}
}
TEST(PCA, copy_constructor)
{
// Test copy constructor
pcl::PCA<pcl::PointXYZ> pca_copy(pca);
try
{
Eigen::Matrix3f eigen_vectors_copy = pca_copy.getEigenVectors ();
Eigen::Matrix3f eigen_vectors = pca.getEigenVectors ();
for(std::size_t i = 0; i < 3; ++i)
for(std::size_t j = 0; j < 3; ++j)
EXPECT_EQ (eigen_vectors (i,j), eigen_vectors_copy (i,j));
}
catch (pcl::InitFailedException &/*e*/)
{
std::cerr << "something wrong" << std::endl;
}
}
TEST(PCA, cloud_projection)
{
pcl::PointCloud<pcl::PointXYZ> cloud_projected, cloud_reconstructed;
try
{
pca.project (cloud, cloud_projected);
EXPECT_EQ (cloud.size (), cloud_projected.size ());
pca.reconstruct (cloud_projected, cloud_reconstructed);
EXPECT_EQ (cloud_reconstructed.size (), cloud_projected.size ());
for(std::size_t i = 0; i < cloud.size(); i++)
EXPECT_NEAR_VECTORS (cloud[i].getVector3fMap (),
cloud_reconstructed[i].getVector3fMap (),
5e-4);
}
catch (pcl::InitFailedException &/*e*/)
{
std::cerr << "something wrong" << std::endl;
}
}
int main (int argc, char** argv)
{
cloud.width = 5;
cloud.height = 4 ;
cloud.is_dense = true;
cloud.resize(20);
cloud[0].x = 100; cloud[0].y = 8; cloud[0].z = 5;
cloud[1].x = 228; cloud[1].y = 21; cloud[1].z = 2;
cloud[2].x = 341; cloud[2].y = 31; cloud[2].z = 10;
cloud[3].x = 472; cloud[3].y = 40; cloud[3].z = 15;
cloud[4].x = 578; cloud[4].y = 48; cloud[4].z = 3;
cloud[5].x = 699; cloud[5].y = 60; cloud[5].z = 12;
cloud[6].x = 807; cloud[6].y = 71; cloud[6].z = 14;
cloud[7].x = 929; cloud[7].y = 79; cloud[7].z = 16;
cloud[8].x = 1040; cloud[8].y = 92; cloud[8].z = 18;
cloud[9].x = 1160; cloud[9].y = 101; cloud[9].z = 38;
cloud[10].x = 1262; cloud[10].y = 109; cloud[10].z = 28;
cloud[11].x = 1376; cloud[11].y = 121; cloud[11].z = 32;
cloud[12].x = 1499; cloud[12].y = 128; cloud[12].z = 35;
cloud[13].x = 1620; cloud[13].y = 143; cloud[13].z = 28;
cloud[14].x = 1722; cloud[14].y = 150; cloud[14].z = 30;
cloud[15].x = 1833; cloud[15].y = 159; cloud[15].z = 15;
cloud[16].x = 1948; cloud[16].y = 172; cloud[16].z = 12;
cloud[17].x = 2077; cloud[17].y = 181; cloud[17].z = 33;
cloud[18].x = 2282; cloud[18].y = 190; cloud[18].z = 23;
cloud[19].x = 2999; cloud[19].y = 202; cloud[19].z = 29;
pca.setInputCloud (cloud.makeShared ());
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}
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