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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/moment_of_inertia_estimation.h>
#include <pcl/io/pcd_io.h>
pcl::PointCloud <pcl::PointXYZ>::Ptr cloud;
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (MomentOfInertia, FeatureExtraction)
{
pcl::MomentOfInertiaEstimation <pcl::PointXYZ> feature_extractor;
feature_extractor.setInputCloud (cloud);
feature_extractor.compute ();
float major, middle, minor;
feature_extractor.getEigenValues (major, middle, minor);
EXPECT_LE (minor, middle);
EXPECT_LE (middle, major);
float dot_product = 0.0f;
Eigen::Vector3f major_vec, middle_vec, minor_vec;
feature_extractor.getEigenVectors (major_vec, middle_vec, minor_vec);
dot_product = major_vec.dot (middle_vec);
EXPECT_NEAR (0.0f, dot_product, 0.00001f);
dot_product = major_vec.dot (minor_vec);
EXPECT_NEAR (0.0f, dot_product, 0.00001f);
dot_product = middle_vec.dot (minor_vec);
EXPECT_NEAR (0.0f, dot_product, 0.00001f);
std::vector <float> moment_of_inertia;
std::vector <float> eccentricity;
feature_extractor.getMomentOfInertia (moment_of_inertia);
feature_extractor.getEccentricity (eccentricity);
auto m_size = static_cast <unsigned int> (moment_of_inertia.size ());
auto e_size = static_cast <unsigned int> (eccentricity.size ());
EXPECT_EQ (m_size, e_size);
EXPECT_NE (0, m_size);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (MomentOfInertia, InvalidParameters)
{
float angle_step = 0.0f;
float point_mass = 0.0f;
pcl::MomentOfInertiaEstimation <pcl::PointXYZ> feature_extractor;
feature_extractor.setInputCloud (cloud);
angle_step = 0.0f;
feature_extractor.setAngleStep (angle_step);
angle_step = feature_extractor.getAngleStep ();
EXPECT_LT (0.0f, angle_step);
angle_step = -1.0f;
feature_extractor.setAngleStep (angle_step);
angle_step = feature_extractor.getAngleStep ();
EXPECT_LT (0.0f, angle_step);
point_mass = 0.0f;
feature_extractor.setPointMass (point_mass);
point_mass = feature_extractor.getPointMass ();
EXPECT_LT (0.0f, point_mass);
point_mass = -1.0f;
feature_extractor.setPointMass (point_mass);
point_mass = feature_extractor.getPointMass ();
EXPECT_LT (0.0f, point_mass);
}
/* ---[ */
int
main (int argc, char** argv)
{
if (argc < 2)
{
std::cerr << "No test file given. Please download `lamppost.pcd` and pass its paths to the test." << std::endl;
return (-1);
}
cloud.reset (new pcl::PointCloud<pcl::PointXYZ> ());
if (pcl::io::loadPCDFile (argv[1], *cloud) < 0)
{
std::cerr << "Failed to read test file. Please download `lamppost.pcd` and pass its path to the test." << std::endl;
return (-1);
}
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}
/* ]--- */
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