/////////////////////////////////////////////////////////////////////////////////////////////////////////////
| 42 | |
| 43 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
| 44 | TEST (PCL, VectorAverage_mean) |
| 45 | { |
| 46 | std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > points; |
| 47 | std::vector<Eigen::Vector3f::Scalar, Eigen::aligned_allocator<Eigen::Vector3f::Scalar> > weights; |
| 48 | points.emplace_back(-0.558191f, 0.180822f, -0.809769f); |
| 49 | weights.push_back (0.160842f); |
| 50 | points.emplace_back(-0.510641f, 0.290673f, -0.809169f); |
| 51 | weights.push_back (0.526732f); |
| 52 | points.emplace_back(-0.440713f, 0.385624f, -0.810597f); |
| 53 | weights.push_back (0.312427f); |
| 54 | |
| 55 | Eigen::Vector3f correct_mean (0.0f, 0.0f, 0.0f); |
| 56 | float weigth_sum = 0.0f; |
| 57 | for (std::size_t i = 0; i < points.size (); ++i) |
| 58 | { |
| 59 | correct_mean += weights[i]*points[i]; |
| 60 | weigth_sum += weights[i]; |
| 61 | } |
| 62 | correct_mean /= weigth_sum; |
| 63 | |
| 64 | pcl::VectorAverage<float, 3> va; |
| 65 | for (std::size_t i = 0; i < points.size(); ++i) |
| 66 | va.add(points[i], weights[i]); |
| 67 | Eigen::Vector3f mean = va.getMean(); |
| 68 | //std::cout << "Correct: "<<correct_mean <<"\n"<< "Result: "<<mean<<"\n"; |
| 69 | EXPECT_NEAR ((mean-correct_mean).norm(), 0.0f, 1e-4); |
| 70 | } |
| 71 | |
| 72 | /* ---[ */ |
| 73 | int |
nothing calls this directly
no test coverage detected