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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2009-2012, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
* Copyright (c) 2014, RadiantBlue Technologies, 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/filters/grid_minimum.h>
#include <pcl/point_types.h>
using namespace pcl;
PointCloud<PointXYZ> cloud;
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (Grid, Minimum)
{
PointCloud<PointXYZ> cloud_in, cloud_out;
cloud_in.height = 1;
cloud_in.width = 3;
cloud_in.is_dense = true;
cloud_in.resize (3);
cloud_in[0].x = 0; cloud_in[0].y = 0; cloud_in[0].z = 0.25;
cloud_in[1].x = 0.5; cloud_in[1].y = 0.5; cloud_in[1].z = 1;
cloud_in[2].x = 1.5; cloud_in[2].y = 1.5; cloud_in[2].z = 0.0;
GridMinimum<PointXYZ> gm (1.0f);
gm.setInputCloud (cloud_in.makeShared ());
gm.filter (cloud_out);
EXPECT_EQ (cloud_out[0].z, 0.25f);
EXPECT_EQ (cloud_out[1].z, 0.0f);
EXPECT_EQ (cloud_out.size (), 2);
EXPECT_EQ (gm.getResolution (), 1.0f);
gm.setResolution (2.0f);
gm.filter (cloud_out);
EXPECT_EQ (cloud_out[0].z, 0.0f);
EXPECT_EQ (cloud_out.size (), 1);
EXPECT_EQ (gm.getResolution (), 2.0f);
}
/* ---[ */
int
main (int argc, char** argv)
{
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}
/* ]--- */
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