Function TEST

test/gpu/octree/test_bfrs_gpu.cpp:61–100

TEST (PCL_GPU, DISABLED_bruteForceRadiusSeachGPU)

//TEST (PCL_GPU, DISABLED_bruteForceRadiusSeachGPU)
TEST (PCL_GPU, bruteForceRadiusSeachGPU)
{   
    DataGenerator data;
    data.data_size = 871000;
    data.tests_num = 100;
    data.cube_size = 1024.f;
    data.max_radius    = data.cube_size/15.f;
    data.shared_radius = data.cube_size/20.f;
    data.printParams();  

    //generate
    data();
    
    // brute force radius search
    data.bruteForceSearch();

    //prepare gpu cloud
    pcl::gpu::Octree::PointCloud cloud_device;
    cloud_device.upload(data.points);
    
    pcl::gpu::DeviceArray<int> results_device, buffer(cloud_device.size());
    
    std::vector<int> results_host;
    std::vector<std::size_t> sizes;
    for(std::size_t i = 0; i < data.tests_num; ++i)
    {
        pcl::gpu::bruteForceRadiusSearchGPU(cloud_device, data.queries[i], data.radiuses[i], results_device, buffer);

        results_device.download(results_host);
        std::sort(results_host.begin(), results_host.end());

        ASSERT_EQ ( (results_host == data.bfresutls[i]), true );
        sizes.push_back(results_device.size());      
    }
        
    float avg_size = std::accumulate(sizes.begin(), sizes.end(), (std::size_t)0) * (1.f/sizes.size());;

    std::cout << "avg_result_size = " << avg_size << std::endl;
    ASSERT_GT(avg_size, 5);    
}

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int