Function TEST

test/filters/test_clipper.cpp:56–114

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TEST (BoxClipper3D, Filters)
{
  // PointCloud
  // -------------------------------------------------------------------------

  // Create cloud with center point and corner points
  PointCloud<PointXYZ>::Ptr input (new PointCloud<PointXYZ> ());
  input->push_back (PointXYZ (0.0f, 0.0f, 0.0f));
  input->push_back (PointXYZ (0.9f, 0.9f, 0.9f));
  input->push_back (PointXYZ (0.9f, 0.9f, -0.9f));
  input->push_back (PointXYZ (0.9f, -0.9f, 0.9f));
  input->push_back (PointXYZ (-0.9f, 0.9f, 0.9f));
  input->push_back (PointXYZ (0.9f, -0.9f, -0.9f));
  input->push_back (PointXYZ (-0.9f, -0.9f, 0.9f));
  input->push_back (PointXYZ (-0.9f, 0.9f, -0.9f));
  input->push_back (PointXYZ (-0.9f, -0.9f, -0.9f));

  ExtractIndices<PointXYZ> extract_indices;
  pcl::Indices indices;

  BoxClipper3D<PointXYZ> boxClipper3D (Affine3f::Identity ());
  boxClipper3D.clipPointCloud3D (*input, indices);

  PointCloud<PointXYZ> cloud_out;

  extract_indices.setInputCloud (input);
  extract_indices.setIndices (pcl::make_shared<pcl::Indices> (indices));
  extract_indices.filter (cloud_out);

  EXPECT_EQ (int (indices.size ()), 9);
  EXPECT_EQ (int (cloud_out.size ()), 9);
  EXPECT_EQ (int (cloud_out.width), 9);
  EXPECT_EQ (int (cloud_out.height), 1);

  // Translate points by 1 in Y-axis ...
  Affine3f t (Translation3f (0.0f, 1.0f, 0.0f));
  boxClipper3D.setTransformation (t);
  boxClipper3D.clipPointCloud3D (*input, indices);

  EXPECT_EQ (int (indices.size ()), 5);

  // ... then rotate points +45 in Y-Axis
  t.rotate (AngleAxisf (45.0f * static_cast<float>(M_PI) / 180.0f, Vector3f::UnitY ()));
  boxClipper3D.setTransformation (t);
  boxClipper3D.clipPointCloud3D (*input, indices);
  EXPECT_EQ (int (indices.size ()), 1);

  // ... then rotate points -45 in Z-axis
  t.rotate (AngleAxisf (-45.0f * static_cast<float>(M_PI) / 180.0f, Vector3f::UnitZ ()));
  boxClipper3D.setTransformation (t);
  boxClipper3D.clipPointCloud3D (*input, indices);
  EXPECT_EQ (int (indices.size ()), 3);

  // ... then scale points by 2
  t.scale (2.0f);
  boxClipper3D.setTransformation (t);
  boxClipper3D.clipPointCloud3D (*input, indices);
  EXPECT_EQ (int (indices.size ()), 1);