Function TEST

test/keypoints/test_keypoints.cpp:66–122

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TEST (PCL, SIFTKeypoint)
{
  PointCloud<KeypointT> keypoints;

  // Compute the SIFT keypoints
  SIFTKeypoint<PointXYZI, KeypointT> sift_detector;
	search::KdTree<PointXYZI>::Ptr tree (new search::KdTree<PointXYZI>);
  sift_detector.setSearchMethod (tree);
  sift_detector.setScales (0.02f, 5, 3);
  sift_detector.setMinimumContrast (0.03f);

  sift_detector.setInputCloud (cloud_xyzi);
  sift_detector.compute (keypoints);

  ASSERT_EQ (keypoints.width, keypoints.size ());
  ASSERT_EQ (keypoints.height, 1);
  EXPECT_EQ (keypoints.size (), static_cast<std::size_t> (169));
  EXPECT_EQ (keypoints.header, cloud_xyzi->header);
  EXPECT_EQ (keypoints.sensor_origin_ (0), cloud_xyzi->sensor_origin_ (0));
  EXPECT_EQ (keypoints.sensor_origin_ (1), cloud_xyzi->sensor_origin_ (1));
  EXPECT_EQ (keypoints.sensor_origin_ (2), cloud_xyzi->sensor_origin_ (2));
  EXPECT_EQ (keypoints.sensor_origin_ (3), cloud_xyzi->sensor_origin_ (3));
  EXPECT_EQ (keypoints.sensor_orientation_.w (), cloud_xyzi->sensor_orientation_.w ());
  EXPECT_EQ (keypoints.sensor_orientation_.x (), cloud_xyzi->sensor_orientation_.x ());
  EXPECT_EQ (keypoints.sensor_orientation_.y (), cloud_xyzi->sensor_orientation_.y ());
  EXPECT_EQ (keypoints.sensor_orientation_.z (), cloud_xyzi->sensor_orientation_.z ());

  // Change the values and re-compute
  sift_detector.setScales (0.05f, 5, 3);
  sift_detector.setMinimumContrast (0.06f);
  sift_detector.compute (keypoints);

  ASSERT_EQ (keypoints.width, keypoints.size ());
  ASSERT_EQ (keypoints.height, 1);

  // Compare to previously validated output
  constexpr std::size_t correct_nr_keypoints = 5;
  const float correct_keypoints[correct_nr_keypoints][4] = 
    { 
      // { x,  y,  z,  scale }
      {-0.9425f, -0.6381f,  1.6445f,  0.0794f},
      {-0.5083f, -0.5587f,  1.8519f,  0.0500f},
      { 1.0265f,  0.0500f,  1.7154f,  0.1000f},
      { 0.3005f, -0.3007f,  1.9526f,  0.2000f},
      {-0.1002f, -0.1002f,  1.9933f,  0.3175f}
    };

  ASSERT_EQ (keypoints.size (), correct_nr_keypoints);
  for (std::size_t i = 0; i < correct_nr_keypoints; ++i)
  {
    EXPECT_NEAR (keypoints[i].x, correct_keypoints[i][0], 1e-4);
    EXPECT_NEAR (keypoints[i].y, correct_keypoints[i][1], 1e-4);
    EXPECT_NEAR (keypoints[i].z, correct_keypoints[i][2], 1e-4);
    EXPECT_NEAR (keypoints[i].scale, correct_keypoints[i][3], 1e-4);
  }

}