test_outofcore.cpp File Reference

#include <gtest/gtest.h>
#include <vector>
#include <cstdio>
#include <iostream>
#include <pcl/common/time.h>
#include <pcl/console/print.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/outofcore/outofcore.h>
#include <pcl/outofcore/outofcore_impl.h>
#include <pcl/PCLPointCloud2.h>
#include <boost/random/mersenne_twister.hpp>
#include <boost/random/uniform_real.hpp>
#include <boost/random/normal_distribution.hpp>
#include <boost/foreach.hpp>

Include dependency graph for test_outofcore.cpp:

Go to the source code of this file.

Classes
class	OutofcoreTest
Typedefs
typedef std::vector< PointT, Eigen::aligned_allocator < PointT > >	AlignedPointTVector
typedef OutofcoreOctreeBase < OutofcoreOctreeDiskContainer < PointT >, PointT >	octree_disk
typedef OutofcoreOctreeBaseNode < OutofcoreOctreeDiskContainer < PointT >, PointT >	octree_disk_node
typedef OutofcoreOctreeBase < OutofcoreOctreeRamContainer < PointT >, PointT >	octree_ram
typedef OutofcoreOctreeBaseNode < OutofcoreOctreeRamContainer < PointT >, PointT >	octree_ram_node
typedef pcl::PointXYZ	PointT
Functions
bool	compPt (const PointT &p1, const PointT &p2)
	helper function to compare two points. is there a templated function in pcl to do this for arbitrary point types?
int	main (int argc, char **argv)
static const uint64_t	numPts (10000)
	Unit tests for UR out of core octree code which test public interface of OutofcoreOctreeBase.
static const boost::filesystem::path	outofcore_path ("point_cloud_octree/tree_test.oct_idx")
void	point_test (octree_disk &t)
	TEST (PCL, Outofcore_Octree_Build)
	TEST (PCL, Outofcore_Octree_Build_LOD)
	TEST (PCL, Outofcore_Bounding_Box)
	TEST (PCL, Outofcore_Point_Query)
	TEST_F (OutofcoreTest, Outofcore_Constructors)
	Thorough test of the constructors, including exceptions and specified behavior.
	TEST_F (OutofcoreTest, Outofcore_ConstructorSafety)
	TEST_F (OutofcoreTest, Outofcore_ConstructorBadPaths)
	TEST_F (OutofcoreTest, Outofcore_PointcloudConstructor)
	TEST_F (OutofcoreTest, Outofcore_PointsOnBoundaries)
	TEST_F (OutofcoreTest, Outofcore_MultiplePointClouds)
	TEST_F (OutofcoreTest, Outofcore_PointCloudInput_LOD)
	TEST_F (OutofcoreTest, PointCloud2_Constructors)
	TEST_F (OutofcoreTest, PointCloud2_Insertion)
	TEST_F (OutofcoreTest, PointCloud2_MultiplePointCloud)
	TEST_F (OutofcoreTest, PointCloud2_QueryBoundingBox)
	TEST_F (OutofcoreTest, PointCloud2_Query)
Variables
static const boost::filesystem::path	filename_otreeA = "treeA/tree_test.oct_idx"
static const boost::filesystem::path	filename_otreeA_LOD = "treeA_LOD/tree_test.oct_idx"
static const boost::filesystem::path	filename_otreeB = "treeB/tree_test.oct_idx"
static const boost::filesystem::path	filename_otreeB_LOD = "treeB_LOD/tree_test.oct_idx"
AlignedPointTVector	points
static const boost::uint32_t	rngseed = 0xAAFF33DD

---

Typedef Documentation

typedef std::vector<PointT, Eigen::aligned_allocator<PointT> > AlignedPointTVector

Definition at line 99 of file test_outofcore.cpp.

typedef OutofcoreOctreeBase<OutofcoreOctreeDiskContainer < PointT > , PointT > octree_disk

Definition at line 93 of file test_outofcore.cpp.

typedef OutofcoreOctreeBaseNode<OutofcoreOctreeDiskContainer < PointT > , PointT > octree_disk_node

Definition at line 94 of file test_outofcore.cpp.

typedef OutofcoreOctreeBase<OutofcoreOctreeRamContainer< PointT> , PointT> octree_ram

Definition at line 96 of file test_outofcore.cpp.

typedef OutofcoreOctreeBaseNode<OutofcoreOctreeRamContainer<PointT> , PointT> octree_ram_node

Definition at line 97 of file test_outofcore.cpp.

typedef pcl::PointXYZ PointT

Definition at line 90 of file test_outofcore.cpp.

---

Function Documentation

bool compPt	(	const PointT &	p1,
		const PointT &	p2
	)

helper function to compare two points. is there a templated function in pcl to do this for arbitrary point types?

Definition at line 106 of file test_outofcore.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 956 of file test_outofcore.cpp.

static const uint64_t numPts

(

10000

)

[static]

Unit tests for UR out of core octree code which test public interface of OutofcoreOctreeBase.

static const boost::filesystem::path outofcore_path

(

"point_cloud_octree/tree_test.oct_idx"

)

[static]

void point_test

(

octree_disk &

t

)

Definition at line 251 of file test_outofcore.cpp.

TEST	(	PCL	,
		Outofcore_Octree_Build
	)

Definition at line 114 of file test_outofcore.cpp.

TEST	(	PCL	,
		Outofcore_Octree_Build_LOD
	)

Definition at line 167 of file test_outofcore.cpp.

TEST	(	PCL	,
		Outofcore_Bounding_Box
	)

Definition at line 216 of file test_outofcore.cpp.

TEST	(	PCL	,
		Outofcore_Point_Query
	)

Definition at line 313 of file test_outofcore.cpp.

TEST_F	(	OutofcoreTest	,
		Outofcore_Constructors
	)

Thorough test of the constructors, including exceptions and specified behavior.

Definition at line 439 of file test_outofcore.cpp.

TEST_F	(	OutofcoreTest	,
		Outofcore_ConstructorSafety
	)

Definition at line 477 of file test_outofcore.cpp.

TEST_F	(	OutofcoreTest	,
		Outofcore_ConstructorBadPaths
	)

Todo:

Shouldn't these throw an exception for bad path?

Definition at line 500 of file test_outofcore.cpp.

TEST_F	(	OutofcoreTest	,
		Outofcore_PointcloudConstructor
	)

Definition at line 516 of file test_outofcore.cpp.

TEST_F	(	OutofcoreTest	,
		Outofcore_PointsOnBoundaries
	)

Definition at line 553 of file test_outofcore.cpp.

TEST_F	(	OutofcoreTest	,
		Outofcore_MultiplePointClouds
	)

Definition at line 596 of file test_outofcore.cpp.

TEST_F	(	OutofcoreTest	,
		Outofcore_PointCloudInput_LOD
	)

Definition at line 659 of file test_outofcore.cpp.

TEST_F	(	OutofcoreTest	,
		PointCloud2_Constructors
	)

Definition at line 708 of file test_outofcore.cpp.

TEST_F	(	OutofcoreTest	,
		PointCloud2_Insertion
	)

Definition at line 747 of file test_outofcore.cpp.

TEST_F	(	OutofcoreTest	,
		PointCloud2_MultiplePointCloud
	)

Definition at line 778 of file test_outofcore.cpp.

TEST_F	(	OutofcoreTest	,
		PointCloud2_QueryBoundingBox
	)

Definition at line 839 of file test_outofcore.cpp.

TEST_F	(	OutofcoreTest	,
		PointCloud2_Query
	)

Definition at line 890 of file test_outofcore.cpp.

---

Variable Documentation

const boost::filesystem::path filename_otreeA = "treeA/tree_test.oct_idx" [static]

Definition at line 81 of file test_outofcore.cpp.

const boost::filesystem::path filename_otreeA_LOD = "treeA_LOD/tree_test.oct_idx" [static]

Definition at line 84 of file test_outofcore.cpp.

const boost::filesystem::path filename_otreeB = "treeB/tree_test.oct_idx" [static]

Definition at line 82 of file test_outofcore.cpp.

const boost::filesystem::path filename_otreeB_LOD = "treeB_LOD/tree_test.oct_idx" [static]

Definition at line 85 of file test_outofcore.cpp.

AlignedPointTVector points

Definition at line 101 of file test_outofcore.cpp.

const boost::uint32_t rngseed = 0xAAFF33DD [static]

Definition at line 79 of file test_outofcore.cpp.