/////////////////////////////////////////////////////////////////////////////////////////////////////////////
| 54 | |
| 55 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
| 56 | TEST (PCL, BoundaryEstimation) |
| 57 | { |
| 58 | Eigen::Vector4f u = Eigen::Vector4f::Zero (); |
| 59 | Eigen::Vector4f v = Eigen::Vector4f::Zero (); |
| 60 | |
| 61 | // Estimate normals first |
| 62 | NormalEstimation<PointXYZ, Normal> n; |
| 63 | PointCloud<Normal>::Ptr normals (new PointCloud<Normal> ()); |
| 64 | // set parameters |
| 65 | n.setInputCloud (cloud.makeShared ()); |
| 66 | pcl::IndicesPtr indicesptr (new pcl::Indices (indices)); |
| 67 | n.setIndices (indicesptr); |
| 68 | n.setSearchMethod (tree); |
| 69 | n.setKSearch (static_cast<int> (indices.size ())); |
| 70 | // estimate |
| 71 | n.compute (*normals); |
| 72 | |
| 73 | BoundaryEstimation<PointXYZ, Normal, Boundary> b; |
| 74 | b.setInputNormals (normals); |
| 75 | EXPECT_EQ (b.getInputNormals (), normals); |
| 76 | |
| 77 | // getCoordinateSystemOnPlane |
| 78 | for (const auto &point : normals->points) |
| 79 | { |
| 80 | b.getCoordinateSystemOnPlane (point, u, v); |
| 81 | Vector4fMapConst n4uv = point.getNormalVector4fMap (); |
| 82 | EXPECT_NEAR (n4uv.dot(u), 0, 1e-4); |
| 83 | EXPECT_NEAR (n4uv.dot(v), 0, 1e-4); |
| 84 | EXPECT_NEAR (u.dot(v), 0, 1e-4); |
| 85 | } |
| 86 | |
| 87 | // isBoundaryPoint (indices) |
| 88 | bool pt = false; |
| 89 | pt = b.isBoundaryPoint (cloud, 0, indices, u, v, static_cast<float>(M_PI) / 2.0); |
| 90 | EXPECT_FALSE (pt); |
| 91 | pt = b.isBoundaryPoint (cloud, static_cast<int> (indices.size ()) / 3, indices, u, v, static_cast<float>(M_PI) / 2.0); |
| 92 | EXPECT_FALSE (pt); |
| 93 | pt = b.isBoundaryPoint (cloud, static_cast<int> (indices.size ()) / 2, indices, u, v, static_cast<float>(M_PI) / 2.0); |
| 94 | EXPECT_FALSE (pt); |
| 95 | pt = b.isBoundaryPoint (cloud, static_cast<int> (indices.size ()) - 1, indices, u, v, static_cast<float>(M_PI) / 2.0); |
| 96 | EXPECT_TRUE (pt); |
| 97 | |
| 98 | // isBoundaryPoint (points) |
| 99 | pt = b.isBoundaryPoint (cloud, cloud[0], indices, u, v, static_cast<float>(M_PI) / 2.0); |
| 100 | EXPECT_FALSE (pt); |
| 101 | pt = b.isBoundaryPoint (cloud, cloud[indices.size () / 3], indices, u, v, static_cast<float>(M_PI) / 2.0); |
| 102 | EXPECT_FALSE (pt); |
| 103 | pt = b.isBoundaryPoint (cloud, cloud[indices.size () / 2], indices, u, v, static_cast<float>(M_PI) / 2.0); |
| 104 | EXPECT_FALSE (pt); |
| 105 | pt = b.isBoundaryPoint (cloud, cloud[indices.size () - 1], indices, u, v, static_cast<float>(M_PI) / 2.0); |
| 106 | EXPECT_TRUE (pt); |
| 107 | |
| 108 | // Object |
| 109 | PointCloud<Boundary>::Ptr bps (new PointCloud<Boundary> ()); |
| 110 | |
| 111 | // set parameters |
| 112 | b.setInputCloud (cloud.makeShared ()); |
| 113 | b.setIndices (indicesptr); |
nothing calls this directly
no test coverage detected