test_vector_average.cpp
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00001 /*
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00038 #include <pcl/pcl_macros.h>
00039 #include <iostream> 
00040 #include <sstream> 
00041 #include <gtest/gtest.h>
00042 #include <pcl/common/vector_average.h>
00043 using namespace pcl;
00044 
00046 TEST (PCL, VectorAverage_mean)
00047 {
00048   std::vector<Eigen::Vector3f> points;
00049   std::vector<Eigen::Vector3f::Scalar> weights;
00050   points.push_back (Eigen::Vector3f (-0.558191f, 0.180822f, -0.809769f));
00051   weights.push_back (0.160842f);
00052   points.push_back (Eigen::Vector3f (-0.510641f, 0.290673f, -0.809169f));
00053   weights.push_back (0.526732f);
00054   points.push_back (Eigen::Vector3f (-0.440713f, 0.385624f, -0.810597f));
00055   weights.push_back (0.312427f);
00056   
00057   Eigen::Vector3f correct_mean (0.0f, 0.0f, 0.0f);
00058   float weigth_sum = 0.0f;
00059   for (unsigned int i = 0; i < points.size (); ++i)
00060   {
00061     correct_mean += weights[i]*points[i];
00062     weigth_sum += weights[i];
00063   }
00064   correct_mean /= weigth_sum;
00065   
00066   pcl::VectorAverage<float, 3> va;
00067   for (unsigned int i=0; i<points.size(); ++i)
00068     va.add(points[i], weights[i]);
00069   Eigen::Vector3f mean = va.getMean();
00070   //std::cout << "Correct: "<<correct_mean <<"\n"<< "Result: "<<mean<<"\n";
00071   EXPECT_NEAR ((mean-correct_mean).norm(), 0.0f, 1e-4);
00072 }
00073 
00074 /* ---[ */
00075 int
00076 main (int argc, char** argv)
00077 {
00078   testing::InitGoogleTest (&argc, argv);
00079   return (RUN_ALL_TESTS ());
00080 }
00081 /* ]--- */


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:36:16