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 * 00035 */ 00038 #include <iostream> 00039 #include <sstream> 00040 #include <gtest/gtest.h> 00041 #include <pcl/common/vector_average.h> 00042 using namespace pcl; 00043 00044 void 00045 init () 00046 { 00047 } 00048 00050 TEST (PCL, VectorAverage_mean) 00051 { 00052 std::vector<Eigen::Vector3f> points; 00053 std::vector<float> weights; 00054 points.push_back(Eigen::Vector3f(-0.558191, 0.180822, -0.809769)); 00055 weights.push_back(0.160842); 00056 points.push_back(Eigen::Vector3f(-0.510641, 0.290673, -0.809169)); 00057 weights.push_back(0.526732); 00058 points.push_back(Eigen::Vector3f(-0.440713, 0.385624, -0.810597)); 00059 weights.push_back(0.312427); 00060 00061 Eigen::Vector3f correct_mean(0.0f, 0.0f, 0.0f); 00062 float weigth_sum = 0.0f; 00063 for (unsigned int i=0; i<points.size(); ++i) 00064 { 00065 correct_mean += weights[i]*points[i]; 00066 weigth_sum += weights[i]; 00067 } 00068 correct_mean /= weigth_sum; 00069 00070 pcl::VectorAverage<float, 3> va; 00071 for (unsigned int i=0; i<points.size(); ++i) 00072 va.add(points[i], weights[i]); 00073 Eigen::Vector3f mean = va.getMean(); 00074 //std::cout << "Correct: "<<correct_mean <<"\n"<< "Result: "<<mean<<"\n"; 00075 EXPECT_NEAR ((mean-correct_mean).norm(), 0.0f, 1e-4); 00076 } 00077 00078 /* ---[ */ 00079 int 00080 main (int argc, char** argv) 00081 { 00082 testing::InitGoogleTest (&argc, argv); 00083 init(); 00084 return (RUN_ALL_TESTS ()); 00085 } 00086 /* ]--- */