test_keypoints.cpp

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#include <gtest/gtest.h>

#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/kdtree/kdtree_flann.h>

#include <pcl/keypoints/sift_keypoint.h>

using namespace pcl;
using namespace pcl::io;
using namespace std;

struct KeypointT
{
  float x, y, z, scale;
};

TEST (PCL, SIFTKeypoint)
{
  PointCloud<PointXYZI>::Ptr cloud_xyzi (new PointCloud<PointXYZI> ());
  PointCloud<KeypointT> keypoints;

  // Load a sample point cloud
  io::loadPCDFile ("./test/cturtle.pcd", *cloud_xyzi);

  // Compute the SIFT keypoints
  SIFTKeypoint<PointXYZI, KeypointT> sift_detector;
  sift_detector.setSearchMethod (boost::make_shared<KdTreeFLANN<PointXYZI> > ());
  sift_detector.setScales (0.02, 5, 3);
  sift_detector.setMinimumContrast (0.03);

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

  EXPECT_EQ ((int)keypoints.points.size (), 169);

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

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

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

}

/* ---[ */
int
  main (int argc, char** argv)
{
  testing::InitGoogleTest (&argc, argv);
  return (RUN_ALL_TESTS ());
}
/* ]--- */

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:24 2013