Function TEST

test/features/test_board_estimation.cpp:58–143

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TEST (PCL, BOARDLocalReferenceFrameEstimation)
{
  PointCloud<Normal>::Ptr normals (new PointCloud<Normal> ());
  PointCloud<ReferenceFrame> bunny_LRF;

  pcl::IndicesPtr indicesptr (new pcl::Indices (indices));

  // Compute normals
  NormalEstimation<PointXYZ, Normal> ne;

  ne.setRadiusSearch (0.01);
  ne.setViewPoint (1, 1, 10);
  ne.setInputCloud (cloud.makeShared ());
  ne.setSearchMethod (tree);
  ne.setIndices (indicesptr);

  ne.compute (*normals);

  // Compute BOARD LRF
  BOARDLocalReferenceFrameEstimation<PointXYZ, Normal, ReferenceFrame> lrf_estimator;

  float meshRes = 0.001f;

  lrf_estimator.setFindHoles (true);
  lrf_estimator.setRadiusSearch (15 * meshRes);
  lrf_estimator.setTangentRadius (15 * meshRes);

  lrf_estimator.setInputCloud (cloud.makeShared ());
  lrf_estimator.setInputNormals (normals);
  lrf_estimator.setSearchMethod (tree);
  lrf_estimator.setIndices (indicesptr);

  lrf_estimator.compute (bunny_LRF);

  // TESTS
  EXPECT_EQ (indices.size (), bunny_LRF.size ());

  EXPECT_FALSE (bunny_LRF.is_dense);
  //EXPECT_EQ (std::numeric_limits<float>::max (), bunny_LRF.at (24).confidence);
  EXPECT_TRUE (std::isnan (bunny_LRF.at (24).x_axis[0]));

  // Expected Results
  //float point_15_conf = -9.06301;
  Eigen::Vector3f point_15_x (-0.784923f, 0.208529f, 0.583448f);
  Eigen::Vector3f point_15_y (0.334206f, -0.650436f, 0.682085f);
  Eigen::Vector3f point_15_z (0.52173f, 0.730376f, 0.440851f);

  //float point_45_conf = -9.55398;
  Eigen::Vector3f point_45_x (0.909111f, 0.30943f, 0.278874f);
  Eigen::Vector3f point_45_y (-0.362239f, 0.917811f, 0.162501f);
  Eigen::Vector3f point_45_z (-0.205671f, -0.248751f, 0.946479f);

  //float point_163_conf = -9.04891;
  Eigen::Vector3f point_163_x (-0.443962f, -0.890073f, -0.103285f);
  Eigen::Vector3f point_163_y (0.746929f, -0.30394f, -0.591369f);
  Eigen::Vector3f point_163_z (0.494969f, -0.339693f, 0.799759f);

  //float point_253_conf = -9.09443;