00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: test_segmentation.cpp 34668 2010-12-11 22:18:23Z rusu $ 00035 * 00036 */ 00039 #include <gtest/gtest.h> 00040 #include <pcl/kdtree/kdtree_flann.h> 00041 #include <pcl/point_types.h> 00042 #include <pcl/point_cloud.h> 00043 #include <pcl/io/pcd_io.h> 00044 00045 #include <pcl/segmentation/segment_differences.h> 00046 00047 using namespace pcl; 00048 using namespace pcl::io; 00049 00050 PointCloud<PointXYZ>::Ptr cloud_; 00051 PointCloud<PointXYZ>::Ptr cloud_t_; 00052 KdTree<PointXYZ>::Ptr tree_; 00053 00055 TEST (SegmentDifferences, Base) 00056 { 00057 SegmentDifferences<PointXYZ> sd; 00058 sd.setInputCloud (cloud_); 00059 sd.setDistanceThreshold (0.00005); 00060 00061 // Set the target as itself 00062 sd.setTargetCloud (cloud_); 00063 00064 PointCloud<PointXYZ> output; 00065 sd.segment (output); 00066 00067 EXPECT_EQ ((int)output.points.size (), 0); 00068 00069 // Set a different target 00070 sd.setTargetCloud (cloud_t_); 00071 sd.segment (output); 00072 EXPECT_EQ ((int)output.points.size (), 126); 00073 //savePCDFile ("./test/0-t.pcd", output); 00074 00075 // Reverse 00076 sd.setInputCloud (cloud_t_); 00077 sd.setTargetCloud (cloud_); 00078 sd.segment (output); 00079 EXPECT_EQ ((int)output.points.size (), 127); 00080 //savePCDFile ("./test/t-0.pcd", output); 00081 } 00082 00083 /* ---[ */ 00084 int 00085 main (int argc, char** argv) 00086 { 00087 // Load a standard PCD file from disk 00088 PointCloud<PointXYZ> cloud, cloud_t; 00089 loadPCDFile ("./test/bun0.pcd", cloud); 00090 00091 // Tranpose the cloud 00092 cloud_t = cloud; 00093 for (size_t i = 0; i < cloud.points.size (); ++i) 00094 cloud_t.points[i].x += 0.01; 00095 00096 cloud_ = cloud.makeShared (); 00097 cloud_t_ = cloud_t.makeShared (); 00098 00099 testing::InitGoogleTest (&argc, argv); 00100 return (RUN_ALL_TESTS ()); 00101 } 00102 /* ]--- */