Function TEST

test/common/test_centroid.cpp:53–161

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TEST (PCL, compute3DCentroidFloat)
{
  pcl::PointIndices pindices;
  Indices indices;
  PointXYZ point;
  PointCloud<PointXYZ> cloud;
  Eigen::Vector4f centroid = Eigen::Vector4f::Random();
  const Eigen::Vector4f old_centroid = centroid;

  // test empty cloud which is dense
  cloud.is_dense = true;
  EXPECT_EQ (compute3DCentroid (cloud, centroid), 0);
  EXPECT_EQ (old_centroid, centroid); // centroid remains unchanged

  // test empty cloud non_dense
  cloud.is_dense = false;
  EXPECT_EQ (compute3DCentroid (cloud, centroid), 0);
  EXPECT_EQ (old_centroid, centroid); // centroid remains unchanged

  // test non-empty cloud non_dense (with only invalid points)
  point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
  cloud.push_back (point);
  EXPECT_EQ (compute3DCentroid (cloud, centroid), 0);
  EXPECT_EQ (old_centroid, centroid); // centroid remains unchanged

  // test non-empty cloud non_dense (with only invalid points)
  point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
  cloud.push_back (point);
  indices.push_back (1);
  EXPECT_EQ (compute3DCentroid (cloud, indices, centroid), 0);
  EXPECT_EQ (old_centroid, centroid); // centroid remains unchanged

  cloud.clear ();
  indices.clear ();
  for (point.x = -1; point.x < 2; point.x += 2)
  {
    for (point.y = -1; point.y < 2; point.y += 2)
    {
      for (point.z = -1; point.z < 2; point.z += 2)
      {
        cloud.push_back (point);
      }
    }
  }
  cloud.is_dense = true;

  // eight points with (0, 0, 0) as centroid and covarmat (1, 0, 0, 0, 1, 0, 0, 0, 1)
  centroid [0] = -100;
  centroid [1] = -200;
  centroid [2] = -300;

  EXPECT_EQ (compute3DCentroid (cloud, centroid), 8);
  EXPECT_EQ (centroid [0], 0);
  EXPECT_EQ (centroid [1], 0);
  EXPECT_EQ (centroid [2], 0);
  EXPECT_EQ (centroid [3], 1);

  centroid [0] = -100;