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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2012, 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.
*
* $Id$
*
*/
#include <pcl/test/gtest.h>
#include <pcl/point_cloud.h>
#include <pcl/features/cppf.h>
#include <pcl/io/pcd_io.h>
using PointT = pcl::PointXYZRGBNormal;
static pcl::PointCloud<PointT>::Ptr cloud (new pcl::PointCloud<PointT> ());
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, CPPFEstimation)
{
pcl::CPPFEstimation <PointT, PointT, pcl::CPPFSignature> cppf_estimation;
cppf_estimation.setInputCloud (cloud);
cppf_estimation.setInputNormals (cloud);
pcl::PointCloud<pcl::CPPFSignature>::Ptr feature_cloud (new pcl::PointCloud<pcl::CPPFSignature> ());
cppf_estimation.compute (*feature_cloud);
// Check for size of output
EXPECT_EQ (feature_cloud->size (), cloud->size () * cloud->size ());
// Now check for a few values in the feature cloud
EXPECT_TRUE (std::isnan ((*feature_cloud)[0].f1));
EXPECT_TRUE (std::isnan ((*feature_cloud)[0].f2));
EXPECT_TRUE (std::isnan ((*feature_cloud)[0].f3));
EXPECT_TRUE (std::isnan ((*feature_cloud)[0].f4));
EXPECT_TRUE (std::isnan ((*feature_cloud)[0].f5));
EXPECT_TRUE (std::isnan ((*feature_cloud)[0].f6));
EXPECT_TRUE (std::isnan ((*feature_cloud)[0].f7));
EXPECT_TRUE (std::isnan ((*feature_cloud)[0].f8));
EXPECT_TRUE (std::isnan ((*feature_cloud)[0].f9));
EXPECT_TRUE (std::isnan ((*feature_cloud)[0].f10));
EXPECT_TRUE (std::isnan ((*feature_cloud)[0].alpha_m));
EXPECT_NEAR ((*feature_cloud)[2572].f1, 0.0568356, 1e-4);
EXPECT_NEAR ((*feature_cloud)[2572].f2, -0.1988939, 1e-4);
EXPECT_NEAR ((*feature_cloud)[2572].f3, 0.7854938, 1e-4);
EXPECT_NEAR ((*feature_cloud)[2572].f4, 0.0533117, 1e-4);
EXPECT_NEAR ((*feature_cloud)[2572].f5, 0.1875000, 1e-4);
EXPECT_NEAR ((*feature_cloud)[2572].f6, 0.0733944, 1e-4);
EXPECT_NEAR ((*feature_cloud)[2572].f7, 0.4274509, 1e-4);
EXPECT_NEAR ((*feature_cloud)[2572].f8, 0.2380952, 1e-4);
EXPECT_NEAR ((*feature_cloud)[2572].f9, 0.0619469, 1e-4);
EXPECT_NEAR ((*feature_cloud)[2572].f10, 0.4431372, 1e-4);
EXPECT_NEAR ((*feature_cloud)[2572].alpha_m, -1.847514, 1e-4);
}
/* ---[ */
int
main (int argc, char** argv)
{
if (argc < 2)
{
std::cerr << "No test file given. Please download `colored_cloud.pcd` and pass its path to the test." << std::endl;
return (1);
}
if (pcl::io::loadPCDFile<PointT> (argv[1], *cloud) < 0)
{
std::cerr << "Failed to read test file. Please download `colored_cloud.pcd` and pass its path to the test." << std::endl;
return (1);
}
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}
/* ]--- */
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