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
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
|
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2014-, Centrum Wiskunde Informatica.
* 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.
*
*/
#include <pcl/test/gtest.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/compression/octree_pointcloud_compression.h>
#include <pcl/compression/compression_profiles.h>
#include <exception>
int total_runs = 0;
char* pcd_file;
#define MAX_POINTS 10000.0
#define MAX_COLOR 255
#define NUMBER_OF_TEST_RUNS 3
template<typename PointT> inline PointT generateRandomPoint(const float MAX_XYZ);
template<> inline pcl::PointXYZRGBA generateRandomPoint(const float MAX_XYZ) {
return pcl::PointXYZRGBA(static_cast<float> (MAX_XYZ * rand() / RAND_MAX),
static_cast<float> (MAX_XYZ * rand() / RAND_MAX),
static_cast<float> (MAX_XYZ * rand() / RAND_MAX),
static_cast<int> (MAX_COLOR * rand() / RAND_MAX),
static_cast<int> (MAX_COLOR * rand() / RAND_MAX),
static_cast<int> (MAX_COLOR * rand() / RAND_MAX),
static_cast<int> (MAX_COLOR * rand() / RAND_MAX));
}
template<> inline pcl::PointXYZ generateRandomPoint(const float MAX_XYZ) {
return pcl::PointXYZ(static_cast<float> (MAX_XYZ * rand() / RAND_MAX),
static_cast<float> (MAX_XYZ * rand() / RAND_MAX),
static_cast<float> (MAX_XYZ * rand() / RAND_MAX));
}
template<typename PointT> inline
typename pcl::PointCloud<PointT>::Ptr generateRandomCloud(const float MAX_XYZ) {
// empty point cloud hangs decoder
const unsigned int point_count = 1 + (MAX_POINTS - 1) * rand() / RAND_MAX;
// create shared pointcloud instances
typename pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>());
for (unsigned int point = 0; point < point_count; point++) {
cloud->push_back(generateRandomPoint<PointT>(MAX_XYZ));
}
return cloud;
}
template<typename PointT>
class OctreeDeCompressionTest : public testing::Test {};
using TestTypes = ::testing::Types<pcl::PointXYZ, pcl::PointXYZRGBA>;
TYPED_TEST_SUITE(OctreeDeCompressionTest, TestTypes);
TYPED_TEST (OctreeDeCompressionTest, RandomClouds)
{
srand(static_cast<unsigned int> (time(nullptr)));
for (const double MAX_XYZ : {1.0, 1024.0}) { // Small clouds, large clouds
// iterate over all pre-defined compression profiles
for (int compression_profile = pcl::io::LOW_RES_ONLINE_COMPRESSION_WITHOUT_COLOR;
compression_profile != pcl::io::COMPRESSION_PROFILE_COUNT; ++compression_profile) {
// instantiate point cloud compression encoder/decoder
pcl::io::OctreePointCloudCompression<TypeParam> pointcloud_encoder((pcl::io::compression_Profiles_e) compression_profile, false);
pcl::io::OctreePointCloudCompression<TypeParam> pointcloud_decoder;
typename pcl::PointCloud<TypeParam>::Ptr cloud_out(new pcl::PointCloud<TypeParam>());
// iterate over runs
for (int test_idx = 0; test_idx < NUMBER_OF_TEST_RUNS; test_idx++, total_runs++)
{
auto cloud = generateRandomCloud<TypeParam>(MAX_XYZ);
EXPECT_EQ(cloud->height, 1);
// std::cout << "Run: " << total_runs << " compression profile:" << compression_profile << " point_count: " << point_count;
std::stringstream compressed_data;
pointcloud_encoder.encodePointCloud(cloud, compressed_data);
pointcloud_decoder.decodePointCloud(compressed_data, cloud_out);
if (pcl::io::compressionProfiles_[compression_profile].doVoxelGridDownSampling) {
EXPECT_GT(cloud_out->width, 0);
EXPECT_LE(cloud_out->width, cloud->width) << "cloud width after encoding and decoding greater than before. Profile: " << compression_profile;
}
else {
EXPECT_EQ(cloud_out->width, cloud->width) << "cloud width after encoding and decoding not the same. Profile: " << compression_profile;
}
EXPECT_EQ(cloud_out->height, 1) << "cloud height after encoding and decoding should be 1 (as before). Profile: " << compression_profile;
} // runs
} // compression profiles
} // small clouds, large clouds
} // TEST
TEST (PCL, OctreeDeCompressionRandomPointXYZRGBASameCloud)
{
// Generate a random cloud. Put it into the encoder several times and make
// sure that the decoded cloud has correct width and height each time.
const double MAX_XYZ = 1.0;
srand(static_cast<unsigned int> (time(nullptr)));
// iterate over all pre-defined compression profiles
for (int compression_profile = pcl::io::LOW_RES_ONLINE_COMPRESSION_WITHOUT_COLOR;
compression_profile != pcl::io::COMPRESSION_PROFILE_COUNT; ++compression_profile) {
// instantiate point cloud compression encoder/decoder
pcl::io::OctreePointCloudCompression<pcl::PointXYZRGBA> pointcloud_encoder((pcl::io::compression_Profiles_e) compression_profile, false);
pcl::io::OctreePointCloudCompression<pcl::PointXYZRGBA> pointcloud_decoder;
auto cloud = generateRandomCloud<pcl::PointXYZRGBA>(MAX_XYZ);
EXPECT_EQ(cloud->height, 1);
// iterate over runs
for (int test_idx = 0; test_idx < NUMBER_OF_TEST_RUNS; test_idx++, total_runs++)
{
// std::cout << "Run: " << total_runs << " compression profile:" << compression_profile << " point_count: " << point_count;
std::stringstream compressed_data;
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_out(new pcl::PointCloud<pcl::PointXYZRGBA>());
pointcloud_encoder.encodePointCloud(cloud, compressed_data);
pointcloud_decoder.decodePointCloud(compressed_data, cloud_out);
if (pcl::io::compressionProfiles_[compression_profile].doVoxelGridDownSampling) {
EXPECT_GT(cloud_out->width, 0);
EXPECT_LE(cloud_out->width, cloud->width) << "cloud width after encoding and decoding greater than before. Profile: " << compression_profile;
}
else {
EXPECT_EQ(cloud_out->width, cloud->width) << "cloud width after encoding and decoding not the same. Profile: " << compression_profile;
}
EXPECT_EQ(cloud_out->height, 1) << "cloud height after encoding and decoding should be 1 (as before). Profile: " << compression_profile;
} // runs
} // compression profiles
} // TEST
TEST(PCL, OctreeDeCompressionFile)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr input_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
// load point cloud from file, when present
if (pcd_file == nullptr) return;
int rv = pcl::io::loadPCDFile(pcd_file, *input_cloud_ptr);
float voxel_sizes[] = { 0.1, 0.01 };
EXPECT_EQ(rv, 0) << " loadPCDFile " << pcd_file;
EXPECT_GT(input_cloud_ptr->width , 0) << "invalid point cloud width from " << pcd_file;
EXPECT_GT(input_cloud_ptr->height, 0) << "invalid point cloud height from " << pcd_file;
// iterate over compression profiles
for (int compression_profile = pcl::io::LOW_RES_ONLINE_COMPRESSION_WITHOUT_COLOR;
compression_profile != pcl::io::COMPRESSION_PROFILE_COUNT; ++compression_profile) {
// instantiate point cloud compression encoder/decoder
pcl::io::OctreePointCloudCompression<pcl::PointXYZRGB> PointCloudEncoder((pcl::io::compression_Profiles_e) compression_profile, false);
pcl::io::OctreePointCloudCompression<pcl::PointXYZRGB> PointCloudDecoder;
// iterate over various voxel sizes
for (std::size_t i = 0; i < sizeof(voxel_sizes)/sizeof(voxel_sizes[0]); i++) {
pcl::octree::OctreePointCloud<pcl::PointXYZRGB> octree(voxel_sizes[i]);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_out(new pcl::PointCloud<pcl::PointXYZRGB>());
octree.setInputCloud((*input_cloud_ptr).makeShared());
octree.addPointsFromInputCloud();
std::stringstream compressedData;
PointCloudEncoder.encodePointCloud(octree.getInputCloud(), compressedData);
PointCloudDecoder.decodePointCloud(compressedData, cloud_out);
EXPECT_GT(cloud_out->width, 0) << "decoded PointCloud width <= 0";
EXPECT_GT(cloud_out->height, 0) << " decoded PointCloud height <= 0 ";
total_runs++;
}
}
}
/* ---[ */
int
main (int argc, char** argv)
{
testing::InitGoogleTest (&argc, argv);
if (argc > 1) {
pcd_file = argv[1];
}
return (RUN_ALL_TESTS ());
std::cerr << "Finished " << total_runs << " runs." << std::endl;
}
/* ]--- */
|
