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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2011, 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_segmentation.cpp 3564 2011-12-16 06:11:13Z rusu $
*
*/
#include <pcl/test/gtest.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/PointIndices.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/segmentation/sac_segmentation.h>
using namespace pcl;
using namespace pcl::io;
PointCloud<PointXYZ>::Ptr cloud_;
//////////////////////////////////////////////////////////////////////////////////////////////
TEST (SACSegmentation, Segmentation)
{
ModelCoefficients::Ptr sphere_coefficients (new ModelCoefficients);
PointIndices::Ptr inliers (new PointIndices);
SACSegmentation<PointXYZ> seg;
seg.setOptimizeCoefficients (true);
seg.setModelType (SACMODEL_SPHERE);
seg.setMethodType (SAC_RANSAC);
seg.setMaxIterations (10000);
seg.setDistanceThreshold (0.01);
seg.setRadiusLimits (0.03, 0.07); // true radius is 0.05
seg.setInputCloud (cloud_);
seg.segment (*inliers, *sphere_coefficients);
EXPECT_NEAR (sphere_coefficients->values[0], 0.998776, 1e-2);
EXPECT_NEAR (sphere_coefficients->values[1], 0.752023, 1e-2);
EXPECT_NEAR (sphere_coefficients->values[2], 1.24558, 1e-2);
EXPECT_NEAR (sphere_coefficients->values[3], 0.0536238, 1e-2);
EXPECT_NEAR (static_cast<int> (inliers->indices.size ()), 3516, 15);
}
//* ---[ */
int
main (int argc, char** argv)
{
if (argc < 2)
{
std::cerr << "No test file given. Please download `noisy_slice_displaced.pcd` and pass its path to the test." << std::endl;
return (-1);
}
// Load a standard PCD file from disk
PointCloud<PointXYZ> cloud;
if (loadPCDFile (argv[1], cloud) < 0)
{
std::cerr << "Failed to read test file. Please download `noisy_slice_displaced.pcd` and pass its path to the test." << std::endl;
return (-1);
}
cloud_ = cloud.makeShared ();
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}
/* ]--- */
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