Function TEST

test/surface/test_concave_hull.cpp:66–112

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TEST (PCL, ConcaveHull_bunny)
{
  //construct dataset
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud2D (new pcl::PointCloud<pcl::PointXYZ> (*cloud));
  for (auto &point : cloud2D->points)
    point.z = 0;

  pcl::PointCloud<pcl::PointXYZ> alpha_shape;
  pcl::PointCloud<pcl::PointXYZ>::Ptr voronoi_centers (new pcl::PointCloud<pcl::PointXYZ>);
  std::vector<pcl::Vertices> polygons_alpha;

  pcl::ConcaveHull<pcl::PointXYZ> concave_hull;
  concave_hull.setInputCloud (cloud2D);
  concave_hull.setAlpha (0.5);
  concave_hull.setVoronoiCenters (voronoi_centers);
  concave_hull.reconstruct (alpha_shape, polygons_alpha);

  EXPECT_EQ (alpha_shape.size (), 21);

  pcl::PointCloud<pcl::PointXYZ> alpha_shape1;
  pcl::PointCloud<pcl::PointXYZ>::Ptr voronoi_centers1 (new pcl::PointCloud<pcl::PointXYZ>);
  std::vector<pcl::Vertices> polygons_alpha1;

  pcl::ConcaveHull<pcl::PointXYZ> concave_hull1;
  concave_hull1.setInputCloud (cloud2D);
  concave_hull1.setAlpha (1.5);
  concave_hull1.setVoronoiCenters (voronoi_centers1);
  concave_hull1.reconstruct (alpha_shape1, polygons_alpha1);

  EXPECT_EQ (alpha_shape1.size (), 20);

  pcl::PointCloud<pcl::PointXYZ> alpha_shape2;
  pcl::PointCloud<pcl::PointXYZ>::Ptr voronoi_centers2 (new pcl::PointCloud<pcl::PointXYZ>);
  std::vector<pcl::Vertices> polygons_alpha2;
  pcl::ConcaveHull<pcl::PointXYZ> concave_hull2;
  concave_hull2.setInputCloud (cloud2D);
  concave_hull2.setAlpha (0.01);
  concave_hull2.setVoronoiCenters (voronoi_centers2);
  concave_hull2.reconstruct (alpha_shape2, polygons_alpha2);

  EXPECT_EQ (alpha_shape2.size (), 81);

  //PolygonMesh concave;
  //toPCLPointCloud2 (alpha_shape2, concave.cloud);
  //concave.polygons = polygons_alpha2;
  //saveVTKFile ("./test/bun0-concave2d.vtk", concave);
}

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TEST (PCL, ConcaveHull_planar_bunny)