#include <gtest/gtest.h>
#include <pcl/io/pcd_io.h>
#include <pcl/sample_consensus/sac.h>
#include <pcl/sample_consensus/lmeds.h>
#include <pcl/sample_consensus/ransac.h>
#include <pcl/sample_consensus/rransac.h>
#include <pcl/sample_consensus/msac.h>
#include <pcl/sample_consensus/rmsac.h>
#include <pcl/sample_consensus/mlesac.h>
#include <pcl/sample_consensus/sac_model.h>
#include <pcl/sample_consensus/sac_model_plane.h>
#include <pcl/sample_consensus/sac_model_sphere.h>
#include <pcl/sample_consensus/sac_model_cone.h>
#include <pcl/sample_consensus/sac_model_cylinder.h>
#include <pcl/sample_consensus/sac_model_circle.h>
#include <pcl/sample_consensus/sac_model_line.h>
#include <pcl/sample_consensus/sac_model_normal_plane.h>
#include <pcl/sample_consensus/sac_model_normal_sphere.h>
#include <pcl/sample_consensus/sac_model_parallel_plane.h>
#include <pcl/sample_consensus/sac_model_normal_parallel_plane.h>
#include <pcl/features/normal_3d.h>
#include <boost/thread.hpp>

Include dependency graph for test_sample_consensus.cpp:

Typedefs
typedef SampleConsensusModelCircle2D < PointXYZ >::Ptr	SampleConsensusModelCircle2DPtr
typedef SampleConsensusModelCone < PointXYZ, Normal >::Ptr	SampleConsensusModelConePtr
typedef SampleConsensusModelCylinder < PointXYZ, Normal >::Ptr	SampleConsensusModelCylinderPtr
typedef SampleConsensusModelLine < PointXYZ >::Ptr	SampleConsensusModelLinePtr
typedef SampleConsensusModelNormalParallelPlane < PointXYZ, Normal >::Ptr	SampleConsensusModelNormalParallelPlanePtr
typedef SampleConsensusModelNormalPlane < PointXYZ, Normal >::Ptr	SampleConsensusModelNormalPlanePtr
typedef SampleConsensusModelNormalSphere < PointXYZ, Normal >::Ptr	SampleConsensusModelNormalSpherePtr
typedef SampleConsensusModelParallelPlane < PointXYZ >::Ptr	SampleConsensusModelParallelPlanePtr
typedef SampleConsensusModelPlane < PointXYZ >::Ptr	SampleConsensusModelPlanePtr
typedef SampleConsensusModel < PointXYZ >::Ptr	SampleConsensusModelPtr
typedef SampleConsensusModelSphere < PointXYZ >::Ptr	SampleConsensusModelSpherePtr
Functions
int	main (int argc, char **argv)
	TEST (SampleConsensusModelPlane, Base)
	TEST (RANSAC, Base)
	TEST (RANSAC, SampleConsensusModelPlane)
	TEST (LMedS, SampleConsensusModelPlane)
	TEST (MSAC, SampleConsensusModelPlane)
	TEST (RRANSAC, SampleConsensusModelPlane)
	TEST (RMSAC, SampleConsensusModelPlane)
	TEST (RANSAC, SampleConsensusModelNormalParallelPlane)
	TEST (MLESAC, SampleConsensusModelPlane)
	TEST (RANSAC, SampleConsensusModelSphere)
	TEST (RANSAC, SampleConsensusModelNormalSphere)
	TEST (RANSAC, SampleConsensusModelCone)
	TEST (RANSAC, SampleConsensusModelCylinder)
	TEST (RANSAC, SampleConsensusModelCircle2D)
	TEST (RANSAC, SampleConsensusModelLine)
	TEST (RANSAC, SampleConsensusModelNormalPlane)
	TEST (SAC, InfiniteLoop)
template<typename ModelType , typename SacType >
void	verifyPlaneSac (ModelType &model, SacType &sac, unsigned int inlier_number=2000, float tol=1e-1f, float refined_tol=1e-1f, float proj_tol=1e-3f)
Variables
PointCloud< PointXYZ >::Ptr	cloud_ (new PointCloud< PointXYZ >())
vector< int >	indices_
PointCloud< Normal >::Ptr	normals_ (new PointCloud< Normal >())
float	plane_coeffs_ [] = {-0.8964f, -0.5868f, -1.208f}

Typedef Documentation

typedef SampleConsensusModelCircle2D<PointXYZ>::Ptr SampleConsensusModelCircle2DPtr

Definition at line 71 of file test_sample_consensus.cpp.

typedef SampleConsensusModelCone<PointXYZ, Normal>::Ptr SampleConsensusModelConePtr

Definition at line 70 of file test_sample_consensus.cpp.

typedef SampleConsensusModelCylinder<PointXYZ, Normal>::Ptr SampleConsensusModelCylinderPtr

Definition at line 69 of file test_sample_consensus.cpp.

typedef SampleConsensusModelLine<PointXYZ>::Ptr SampleConsensusModelLinePtr

Definition at line 72 of file test_sample_consensus.cpp.

typedef SampleConsensusModelNormalParallelPlane<PointXYZ, Normal>::Ptr SampleConsensusModelNormalParallelPlanePtr

Definition at line 76 of file test_sample_consensus.cpp.

typedef SampleConsensusModelNormalPlane<PointXYZ, Normal>::Ptr SampleConsensusModelNormalPlanePtr

Definition at line 73 of file test_sample_consensus.cpp.

typedef SampleConsensusModelNormalSphere<PointXYZ, Normal>::Ptr SampleConsensusModelNormalSpherePtr

Definition at line 74 of file test_sample_consensus.cpp.

typedef SampleConsensusModelParallelPlane<PointXYZ>::Ptr SampleConsensusModelParallelPlanePtr

Definition at line 75 of file test_sample_consensus.cpp.

typedef SampleConsensusModelPlane<PointXYZ>::Ptr SampleConsensusModelPlanePtr

Definition at line 67 of file test_sample_consensus.cpp.

typedef SampleConsensusModel<PointXYZ>::Ptr SampleConsensusModelPtr

Definition at line 66 of file test_sample_consensus.cpp.

typedef SampleConsensusModelSphere<PointXYZ>::Ptr SampleConsensusModelSpherePtr

Definition at line 68 of file test_sample_consensus.cpp.

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 869 of file test_sample_consensus.cpp.

TEST	(	SampleConsensusModelPlane	,
		Base
	)

Definition at line 135 of file test_sample_consensus.cpp.

TEST	(	RANSAC	,
		Base
	)

Definition at line 159 of file test_sample_consensus.cpp.

TEST	(	RANSAC	,
		SampleConsensusModelPlane
	)

Definition at line 180 of file test_sample_consensus.cpp.

TEST	(	LMedS	,
		SampleConsensusModelPlane
	)

Definition at line 193 of file test_sample_consensus.cpp.

TEST	(	MSAC	,
		SampleConsensusModelPlane
	)

Definition at line 206 of file test_sample_consensus.cpp.

TEST	(	RRANSAC	,
		SampleConsensusModelPlane
	)

Definition at line 219 of file test_sample_consensus.cpp.

TEST	(	RMSAC	,
		SampleConsensusModelPlane
	)

Definition at line 235 of file test_sample_consensus.cpp.

TEST	(	RANSAC	,
		SampleConsensusModelNormalParallelPlane
	)

Definition at line 251 of file test_sample_consensus.cpp.

TEST	(	MLESAC	,
		SampleConsensusModelPlane
	)

Definition at line 316 of file test_sample_consensus.cpp.

TEST	(	RANSAC	,
		SampleConsensusModelSphere
	)

Definition at line 329 of file test_sample_consensus.cpp.

TEST	(	RANSAC	,
		SampleConsensusModelNormalSphere
	)

Definition at line 381 of file test_sample_consensus.cpp.

TEST	(	RANSAC	,
		SampleConsensusModelCone
	)

Definition at line 480 of file test_sample_consensus.cpp.

TEST	(	RANSAC	,
		SampleConsensusModelCylinder
	)

Definition at line 587 of file test_sample_consensus.cpp.

TEST	(	RANSAC	,
		SampleConsensusModelCircle2D
	)

Definition at line 671 of file test_sample_consensus.cpp.

TEST	(	RANSAC	,
		SampleConsensusModelLine
	)

Definition at line 732 of file test_sample_consensus.cpp.

TEST	(	RANSAC	,
		SampleConsensusModelNormalPlane
	)

Definition at line 799 of file test_sample_consensus.cpp.

TEST	(	SAC	,
		InfiniteLoop
	)

Definition at line 814 of file test_sample_consensus.cpp.

template<typename ModelType , typename SacType >

void verifyPlaneSac	(	ModelType &	model,
		SacType &	sac,
		unsigned int	inlier_number = `2000`,
		float	tol = `1e-1f`,
		float	refined_tol = `1e-1f`,
		float	proj_tol = `1e-3f`
	)

Definition at line 86 of file test_sample_consensus.cpp.

Variable Documentation

PointCloud<PointXYZ>::Ptr cloud_(new PointCloud< PointXYZ >())

vector<int> indices_

Definition at line 80 of file test_sample_consensus.cpp.

PointCloud<Normal>::Ptr normals_(new PointCloud< Normal >())

float plane_coeffs_[] = {-0.8964f, -0.5868f, -1.208f}

Definition at line 81 of file test_sample_consensus.cpp.

Typedefs

Functions

Variables

Typedef Documentation

Function Documentation

Variable Documentation