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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 Bastian Steder */
#include <iostream>
#include <pcl/test/gtest.h>
#include <pcl/common/vector_average.h>
using namespace pcl;
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, VectorAverage_mean)
{
std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > points;
std::vector<Eigen::Vector3f::Scalar, Eigen::aligned_allocator<Eigen::Vector3f::Scalar> > weights;
points.emplace_back(-0.558191f, 0.180822f, -0.809769f);
weights.push_back (0.160842f);
points.emplace_back(-0.510641f, 0.290673f, -0.809169f);
weights.push_back (0.526732f);
points.emplace_back(-0.440713f, 0.385624f, -0.810597f);
weights.push_back (0.312427f);
Eigen::Vector3f correct_mean (0.0f, 0.0f, 0.0f);
float weigth_sum = 0.0f;
for (std::size_t i = 0; i < points.size (); ++i)
{
correct_mean += weights[i]*points[i];
weigth_sum += weights[i];
}
correct_mean /= weigth_sum;
pcl::VectorAverage<float, 3> va;
for (std::size_t i = 0; i < points.size(); ++i)
va.add(points[i], weights[i]);
Eigen::Vector3f mean = va.getMean();
//std::cout << "Correct: "<<correct_mean <<"\n"<< "Result: "<<mean<<"\n";
EXPECT_NEAR ((mean-correct_mean).norm(), 0.0f, 1e-4);
}
/* ---[ */
int
main (int argc, char** argv)
{
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}
/* ]--- */
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