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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, 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.
*
*
*/
#include <iostream>
#include <pcl/test/gtest.h>
#include <pcl/features/narf.h>
#include <pcl/common/eigen.h>
#include <pcl/common/angles.h> // for deg2rad
using namespace pcl;
TEST (PCL, Narf_save_load)
{
Narf narf;
getTransformation(1.0f, 2.0f, 3.0f, deg2rad(10.0f), deg2rad(20.0f), deg2rad(30.0f), narf.getTransformation());
narf.getPosition() = narf.getTransformation().inverse().translation ();
narf.getSurfacePatchPixelSize() = 10;
narf.setSurfacePatch(new float[narf.getSurfacePatchPixelSize()*narf.getSurfacePatchPixelSize()]);
for (int i=0; i<narf.getSurfacePatchPixelSize()*narf.getSurfacePatchPixelSize(); ++i)
narf.getSurfacePatch()[i] = static_cast<float> (i);
narf.getSurfacePatchWorldSize() = 0.5f;
narf.getSurfacePatchRotation() = deg2rad(10.0f);
narf.extractDescriptor(36);
std::stringstream test_stream;
narf.saveBinary(test_stream);
Narf narf2;
narf2.loadBinary(test_stream);
// EXPECT_EQ (narf.getTransformation().matrix(), narf2.getTransformation().matrix());
// The above generates http://msdn.microsoft.com/en-us/library/sxe76d9e.aspx in VS2010
// Therefore we use this:
for (Eigen::Index i = 0; i < narf.getTransformation().matrix().size(); ++i)
EXPECT_EQ (narf.getTransformation().data()[i], narf2.getTransformation().data()[i]);
EXPECT_EQ (narf.getPosition(), narf2.getPosition());
EXPECT_EQ (narf.getSurfacePatchPixelSize(), narf2.getSurfacePatchPixelSize());
for (int i=0; i<narf.getSurfacePatchPixelSize()*narf.getSurfacePatchPixelSize(); ++i)
EXPECT_EQ (narf.getSurfacePatch()[i], narf2.getSurfacePatch()[i]);
EXPECT_EQ (narf.getSurfacePatchWorldSize(), narf2.getSurfacePatchWorldSize());
EXPECT_EQ (narf.getSurfacePatchRotation(), narf2.getSurfacePatchRotation());
EXPECT_EQ (narf.getDescriptorSize(), narf2.getDescriptorSize());
for (int i=0; i<narf.getDescriptorSize(); ++i)
EXPECT_EQ (narf.getDescriptor()[i], narf2.getDescriptor()[i]);
}
/* ---[ */
int
main (int argc, char** argv)
{
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}
/* ]--- */
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