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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: test_pfh_estimation.cpp 4747 2012-02-26 20:51:51Z svn $
*
*/
#include <pcl/test/gtest.h>
#include <pcl/point_cloud.h>
#include <pcl/features/normal_3d.h>
#include <pcl/features/cvfh.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/voxel_grid.h>
using namespace pcl;
using namespace pcl::io;
using KdTreePtr = search::KdTree<PointXYZ>::Ptr;
using CloudPtr = PointCloud<PointXYZ>::Ptr;
PointCloud<PointXYZ> cloud;
pcl::Indices indices;
KdTreePtr tree;
CloudPtr cloud_milk;
KdTreePtr tree_milk;
float leaf_size_ = 0.005f;
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, CVFHEstimation)
{
// Estimate normals first
NormalEstimation<PointXYZ, Normal> n;
PointCloud<Normal>::Ptr normals (new PointCloud<Normal> ());
// set parameters
n.setInputCloud (cloud.makeShared ());
pcl::IndicesPtr indicesptr (new pcl::Indices (indices));
n.setIndices (indicesptr);
n.setSearchMethod (tree);
n.setKSearch (10); // Use 10 nearest neighbors to estimate the normals
// estimate
n.compute (*normals);
CVFHEstimation<PointXYZ, Normal, VFHSignature308> cvfh;
cvfh.setInputNormals (normals);
// Object
PointCloud<VFHSignature308>::Ptr vfhs (new PointCloud<VFHSignature308> ());
// set parameters
cvfh.setInputCloud (cloud.makeShared ());
cvfh.setIndices (indicesptr);
cvfh.setSearchMethod (tree);
// estimate
cvfh.compute (*vfhs);
EXPECT_EQ (static_cast<int>(vfhs->size ()), 1);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, CVFHEstimationMilk)
{
// Estimate normals first
NormalEstimation<PointXYZ, Normal> n;
PointCloud<Normal>::Ptr normals (new PointCloud<Normal> ());
n.setInputCloud (cloud_milk);
n.setSearchMethod (tree);
n.setRadiusSearch (leaf_size_ * 4); //2cm to estimate normals
n.compute (*normals);
CVFHEstimation<PointXYZ, Normal, VFHSignature308> cvfh;
cvfh.setInputCloud (cloud_milk);
cvfh.setInputNormals (normals);
cvfh.setSearchMethod (tree_milk);
cvfh.setClusterTolerance (leaf_size_ * 3);
cvfh.setEPSAngleThreshold (0.13f);
cvfh.setCurvatureThreshold (0.025f);
cvfh.setNormalizeBins (false);
cvfh.setRadiusNormals (leaf_size_ * 4);
// Object
PointCloud<VFHSignature308>::Ptr vfhs (new PointCloud<VFHSignature308> ());
// estimate
cvfh.compute (*vfhs);
EXPECT_EQ (static_cast<int>(vfhs->size ()), 2);
}
/* ---[ */
int
main (int argc, char** argv)
{
if (argc < 3)
{
std::cerr << "No test file given. Please download `bun0.pcd` and `milk.pcd` pass its path to the test." << std::endl;
return (-1);
}
if (loadPCDFile<PointXYZ> (argv[1], cloud) < 0)
{
std::cerr << "Failed to read test file. Please download `bun0.pcd` and pass its path to the test." << std::endl;
return (-1);
}
CloudPtr milk_loaded(new PointCloud<PointXYZ>());
if (loadPCDFile<PointXYZ> (argv[2], *milk_loaded) < 0)
{
std::cerr << "Failed to read test file. Please download `milk.pcd` and pass its path to the test." << std::endl;
return (-1);
}
indices.resize (cloud.size ());
for (std::size_t i = 0; i < indices.size (); ++i)
{
indices[i] = static_cast<int>(i);
}
tree.reset (new search::KdTree<PointXYZ> (false));
tree->setInputCloud (cloud.makeShared ());
cloud_milk.reset(new PointCloud<PointXYZ>());
CloudPtr grid;
pcl::VoxelGrid < pcl::PointXYZ > grid_;
grid_.setInputCloud (milk_loaded);
grid_.setLeafSize (leaf_size_, leaf_size_, leaf_size_);
grid_.filter (*cloud_milk);
tree_milk.reset (new search::KdTree<PointXYZ> (false));
tree_milk->setInputCloud (cloud_milk);
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}
/* ]--- */
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