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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2009-2014, Willow Garage, Inc.
* Copyright (c) 2014-, Open Perception, 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/grsd.h>
#include <pcl/features/normal_3d.h>
#include <pcl/io/pcd_io.h>
using namespace pcl;
using namespace pcl::io;
search::KdTree<PointXYZ>::Ptr tree (new search::KdTree<PointXYZ> ());
PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ> ());
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, GRSDEstimation)
{
// Estimate normals first
double rad = 0.02;
NormalEstimation<PointXYZ, Normal> n;
PointCloud<Normal>::Ptr normals (new PointCloud<Normal> ());
// set parameters
n.setInputCloud (cloud);
n.setSearchMethod (tree);
n.setRadiusSearch (rad);
n.compute (*normals);
EXPECT_NEAR ((*normals)[103].normal_x, 0.694, 0.1);
EXPECT_NEAR ((*normals)[103].normal_y, -0.562, 0.1);
EXPECT_NEAR ((*normals)[103].normal_z, -0.448, 0.1);
// GRSDEstimation
double rsd_radius = 0.03;
GRSDEstimation<PointXYZ, Normal, GRSDSignature21> grsd;
grsd.setInputNormals (normals);
PointCloud<GRSDSignature21>::Ptr grsd_desc (new PointCloud<GRSDSignature21> ());
grsd.setInputCloud (cloud);
grsd.setSearchMethod (tree);
grsd.setRadiusSearch (rsd_radius);
grsd.compute (*grsd_desc);
EXPECT_EQ (12, (*grsd_desc)[0].histogram[2]);
EXPECT_EQ (104, (*grsd_desc)[0].histogram[4]);
EXPECT_EQ (0, (*grsd_desc)[0].histogram[6]);
EXPECT_EQ (0, (*grsd_desc)[0].histogram[8]);
EXPECT_EQ (0, (*grsd_desc)[0].histogram[10]);
EXPECT_EQ (34, (*grsd_desc)[0].histogram[12]);
EXPECT_EQ (167, (*grsd_desc)[0].histogram[14]);
EXPECT_EQ (68, (*grsd_desc)[0].histogram[16]);
EXPECT_EQ (204, (*grsd_desc)[0].histogram[18]);
EXPECT_EQ (0, (*grsd_desc)[0].histogram[20]);
}
/* ---[ */
int
main (int argc, char** argv)
{
if (argc < 2)
{
std::cerr << "No test file given. Please download `bun0.pcd` and pass its path to the test." << std::endl;
return (-1);
}
if (loadPCDFile<PointXYZ> (argv[1], *cloud) < 0)
{
std::cerr << "Failed to read test file. Please download `bun0.pcd` and pass its path to the test." << std::endl;
return (-1);
}
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}
/* ]--- */
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