1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
|
/*
* 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/io/pcd_io.h>
#include <pcl/features/moment_invariants.h>
using namespace pcl;
using namespace pcl::io;
using KdTreePtr = search::KdTree<PointXYZ>::Ptr;
PointCloud<PointXYZ> cloud;
pcl::Indices indices;
KdTreePtr tree;
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, MomentInvariantsEstimation)
{
float j1, j2, j3;
MomentInvariantsEstimation<PointXYZ, MomentInvariants> mi;
// computePointMomentInvariants (indices))
mi.computePointMomentInvariants (cloud, indices, j1, j2, j3);
EXPECT_NEAR (j1, 1.59244, 1e-4);
EXPECT_NEAR (j2, 0.652063, 1e-4);
EXPECT_NEAR (j3, 0.053917, 1e-4);
// computePointMomentInvariants
mi.computePointMomentInvariants (cloud, indices, j1, j2, j3);
EXPECT_NEAR (j1, 1.59244, 1e-4);
EXPECT_NEAR (j2, 0.652063, 1e-4);
EXPECT_NEAR (j3, 0.053917, 1e-4);
// Object
PointCloud<MomentInvariants>::Ptr moments (new PointCloud<MomentInvariants> ());
// set parameters
mi.setInputCloud (cloud.makeShared ());
pcl::IndicesPtr indicesptr (new pcl::Indices (indices));
mi.setIndices (indicesptr);
mi.setSearchMethod (tree);
mi.setKSearch (static_cast<int> (indices.size ()));
// estimate
mi.compute (*moments);
EXPECT_EQ (moments->size (), indices.size ());
for (const auto &point : moments->points)
{
EXPECT_NEAR (point.j1, 1.59244, 1e-4);
EXPECT_NEAR (point.j2, 0.652063, 1e-4);
EXPECT_NEAR (point.j3, 0.053917, 1e-4);
}
}
/* ---[ */
int
main (int argc, char** argv)
{
if (argc < 2)
{
std::cerr << "No test file given. Please download `bun0.pcd` and 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);
}
indices.resize (cloud.size ());
for (int i = 0; i < static_cast<int> (indices.size ()); ++i)
indices[i] = i;
tree.reset (new search::KdTree<PointXYZ> (false));
tree->setInputCloud (cloud.makeShared ());
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}
/* ]--- */
|
