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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2012, 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.
*
* $Id$
*
*/
#include <gtest/gtest.h>
#include <pcl/point_cloud.h>
#include <pcl/features/rops_estimation.h>
#include <pcl/io/pcd_io.h>
pcl::PointCloud <pcl::PointXYZ>::Ptr cloud;
pcl::PointIndicesPtr indices;
std::vector <pcl::Vertices> triangles;
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (ROPSFeature, FeatureExtraction)
{
float support_radius = 0.0285f;
unsigned int number_of_partition_bins = 5;
unsigned int number_of_rotations = 3;
pcl::search::KdTree<pcl::PointXYZ>::Ptr search_method (new pcl::search::KdTree<pcl::PointXYZ>);
search_method->setInputCloud (cloud);
pcl::ROPSEstimation <pcl::PointXYZ, pcl::Histogram <135> > feature_estimator;
feature_estimator.setSearchMethod (search_method);
feature_estimator.setSearchSurface (cloud);
feature_estimator.setInputCloud (cloud);
feature_estimator.setIndices (indices);
feature_estimator.setTriangles (triangles);
feature_estimator.setRadiusSearch (support_radius);
feature_estimator.setNumberOfPartitionBins (number_of_partition_bins);
feature_estimator.setNumberOfRotations (number_of_rotations);
feature_estimator.setSupportRadius (support_radius);
pcl::PointCloud<pcl::Histogram <135> >::Ptr histograms (new pcl::PointCloud <pcl::Histogram <135> > ());
feature_estimator.compute (*histograms);
EXPECT_NE (0, histograms->points.size ());
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (ROPSFeature, InvalidParameters)
{
float support_radius = 0.0285f;
unsigned int number_of_partition_bins = 5;
unsigned int number_of_rotations = 3;
pcl::search::KdTree<pcl::PointXYZ>::Ptr search_method (new pcl::search::KdTree<pcl::PointXYZ>);
search_method->setInputCloud (cloud);
pcl::ROPSEstimation <pcl::PointXYZ, pcl::Histogram <135> > feature_estimator;
feature_estimator.setSearchMethod (search_method);
feature_estimator.setSearchSurface (cloud);
feature_estimator.setInputCloud (cloud);
feature_estimator.setIndices (indices);
feature_estimator.setTriangles (triangles);
feature_estimator.setRadiusSearch (support_radius);
feature_estimator.setNumberOfPartitionBins (number_of_partition_bins);
feature_estimator.setNumberOfRotations (number_of_rotations);
feature_estimator.setSupportRadius (support_radius);
pcl::PointCloud<pcl::Histogram <135> >::Ptr histograms (new pcl::PointCloud <pcl::Histogram <135> > ());
support_radius = -support_radius;
feature_estimator.setSupportRadius (support_radius);
support_radius = feature_estimator.getSupportRadius ();
EXPECT_LT (0.0f, support_radius);
number_of_partition_bins = 0;
feature_estimator.setNumberOfPartitionBins (number_of_partition_bins);
number_of_partition_bins = feature_estimator.getNumberOfPartitionBins ();
EXPECT_LT (0, number_of_partition_bins);
number_of_rotations = 0;
feature_estimator.setNumberOfRotations (number_of_rotations);
number_of_rotations = feature_estimator.getNumberOfRotations ();
EXPECT_LT (0, number_of_rotations);
std::vector <pcl::Vertices> empty_triangles;
feature_estimator.setTriangles (empty_triangles);
feature_estimator.compute (*histograms);
EXPECT_EQ (0, histograms->points.size ());
}
/* ---[ */
int
main (int argc, char** argv)
{
if (argc < 4)
{
std::cerr << "No test file given. Please download `rops_cloud.pcd`, `rops_indices.txt` and `rops_triangles.txt`" <<
" and pass their paths to the test." << std::endl;
return (-1);
}
cloud = (new pcl::PointCloud<pcl::PointXYZ> ())->makeShared ();
if (pcl::io::loadPCDFile (argv[1], *cloud) < 0)
{
std::cerr << "Failed to read test file. Please download `rops_cloud.pcd` and pass its path to the test." << std::endl;
return (-1);
}
indices = boost::shared_ptr <pcl::PointIndices> (new pcl::PointIndices ());
std::ifstream indices_file;
indices_file.open (argv[2], std::ifstream::in);
for (std::string line; std::getline (indices_file, line);)
{
std::istringstream in (line);
unsigned int index = 0;
in >> index;
indices->indices.push_back (index - 1);
}
indices_file.close ();
std::ifstream triangles_file;
triangles_file.open (argv[3], std::ifstream::in);
for (std::string line; std::getline (triangles_file, line);)
{
pcl::Vertices triangle;
std::istringstream in (line);
unsigned int vertex = 0;
in >> vertex;
triangle.vertices.push_back (vertex - 1);
in >> vertex;
triangle.vertices.push_back (vertex - 1);
in >> vertex;
triangle.vertices.push_back (vertex - 1);
triangles.push_back (triangle);
}
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}
/* ]--- */
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