Function TEST

test/surface/test_organized_fast_mesh.cpp:63–109

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TEST (PCL, Organized)
{
  //construct dataset
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_organized (new pcl::PointCloud<pcl::PointXYZ> ());
  cloud_organized->width = 5;
  cloud_organized->height = 10;
  cloud_organized->points.resize (cloud_organized->width * cloud_organized->height);

  int npoints = 0;
  for (std::size_t i = 0; i < cloud_organized->height; i++)
  {
    for (std::size_t j = 0; j < cloud_organized->width; j++)
    {
      (*cloud_organized)[npoints].x = static_cast<float> (i);
      (*cloud_organized)[npoints].y = static_cast<float> (j);
      (*cloud_organized)[npoints].z = static_cast<float> (cloud_organized->size ()); // to avoid shadowing
      npoints++;
    }
  }
  int nan_idx = cloud_organized->width*cloud_organized->height - 2*cloud_organized->width + 1;
  (*cloud_organized)[nan_idx].x = std::numeric_limits<float>::quiet_NaN ();
  (*cloud_organized)[nan_idx].y = std::numeric_limits<float>::quiet_NaN ();
  (*cloud_organized)[nan_idx].z = std::numeric_limits<float>::quiet_NaN ();
  
  // Init objects
  PolygonMesh triangles;
  OrganizedFastMesh<PointXYZ> ofm;

  // Set parameters
  ofm.setInputCloud (cloud_organized);
  ofm.setMaxEdgeLength (1.5);
  ofm.setTrianglePixelSize (1);
  ofm.setTriangulationType (OrganizedFastMesh<PointXYZ>::TRIANGLE_ADAPTIVE_CUT);

  // Reconstruct
  ofm.reconstruct (triangles);
  //saveVTKFile ("./test/organized.vtk", triangles);

  // Check triangles
  EXPECT_EQ (triangles.cloud.width, cloud_organized->width);
  EXPECT_EQ (triangles.cloud.height, cloud_organized->height);
  EXPECT_EQ (int (triangles.polygons.size ()), 2*(triangles.cloud.width-1)*(triangles.cloud.height-1) - 4);
  EXPECT_EQ (int (triangles.polygons.at (0).vertices.size ()), 3);
  EXPECT_EQ (int (triangles.polygons.at (0).vertices.at (0)), 0);
  EXPECT_EQ (int (triangles.polygons.at (0).vertices.at (1)), triangles.cloud.width+1);
  EXPECT_EQ (int (triangles.polygons.at (0).vertices.at (2)), 1);
}

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int