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
|
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2013, Intelligent Robotics Lab, DLUT.
* Author: Qinghua Li, Yan Zhuang, Fei Yan
*
* 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 Intelligent Robotics Lab, DLUT. 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.
*/
/**
* \file test_bearing_angle_image.cpp
* \created on: July 07, 2013
* \author: Qinghua Li (qinghua__li@163.com)
*/
#include <pcl/test/gtest.h>
#include <pcl/range_image/bearing_angle_image.h>
pcl::BearingAngleImage bearing_angle_image;
pcl::PointCloud<pcl::PointXYZ> point_cloud (3, 2);
/////////////////////////////////////////////////////////////////////
TEST (BearingAngleImageTest, GetAngle)
{
pcl::PointXYZ point1 (1.0, 2.0, 3.0);
pcl::PointXYZ point2 (2.0, 1.0, 1.0);
double angle = bearing_angle_image.getAngle (point1, point2);
EXPECT_NEAR (40.203, angle, 1e-3);
}
/////////////////////////////////////////////////////////////////////
TEST (BearingAngleImageTest, GenerateBAImage)
{
point_cloud[0] = pcl::PointXYZ (3.0, 1.5, -2.0);
point_cloud[1] = pcl::PointXYZ (1.0, 3.0, 2.0);
point_cloud[2] = pcl::PointXYZ (2.0, 3.0, 2.0);
point_cloud[3] = pcl::PointXYZ (2.0, 3.0, 1.0);
point_cloud[4] = pcl::PointXYZ (4.0, 2.0, 2.0);
point_cloud[5] = pcl::PointXYZ (-1.5, 3.0, 1.0);
bearing_angle_image.generateBAImage (point_cloud);
std::uint8_t grays[6];
for (int i = 0; i < 3 * 2; ++i)
{
grays[i] = (bearing_angle_image[i].rgba >> 8) & 0xff;
}
EXPECT_EQ (0, grays[0]);
EXPECT_EQ (0, grays[1]);
EXPECT_EQ (0, grays[2]);
EXPECT_EQ (112, grays[3]);
EXPECT_EQ (80, grays[4]);
EXPECT_EQ (0, grays[5]);
}
/* ---[ */
int
main (int argc, char** argv)
{
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}
|
