#include <gtest/gtest.h>
#include <pcl/search/brute_force.h>
#include <pcl/search/kdtree.h>
#include <pcl/search/organized.h>
#include <pcl/search/octree.h>
#include <pcl/io/pcd_io.h>
#include <boost/smart_ptr/shared_array.hpp>
#include <boost/random/mersenne_twister.hpp>
#include <boost/random/uniform_int.hpp>
#include <boost/random/uniform_real.hpp>
#include <boost/random/variate_generator.hpp>
#include <pcl/common/time.h>

Include dependency graph for test/test_search.cpp:

Defines
#define	DEBUG_OUT 1
	if set to value other than 0 -> fine grained output
#define	EXCESSIVE_TESTING 0
#define	TEST_ORGANIZED_SPARSE_COMPLETE_KNN 1
#define	TEST_ORGANIZED_SPARSE_COMPLETE_RADIUS 1
#define	TEST_ORGANIZED_SPARSE_VIEW_KNN 1
#define	TEST_ORGANIZED_SPARSE_VIEW_RADIUS 1
#define	TEST_unorganized_dense_cloud_COMPLETE_KNN 1
#define	TEST_unorganized_dense_cloud_COMPLETE_RADIUS 1
#define	TEST_unorganized_dense_cloud_VIEW_KNN 1
#define	TEST_unorganized_dense_cloud_VIEW_RADIUS 1
#define	TEST_unorganized_grid_cloud_COMPLETE_RADIUS 1
#define	TEST_unorganized_sparse_cloud_COMPLETE_KNN 1
#define	TEST_unorganized_sparse_cloud_COMPLETE_RADIUS 1
#define	TEST_unorganized_sparse_cloud_VIEW_KNN 1
#define	TEST_unorganized_sparse_cloud_VIEW_RADIUS 1
Functions
bool	compareResults (const std::vector< int > &indices1, const ::vector< float > &distances1, const std::string &name1, const std::vector< int > &indices2, const ::vector< float > &distances2, const std::string &name2, float eps)
	compares two sets of search results
void	createIndices (std::vector< int > &indices, unsigned max_index)
	create an approx 50% view (subset) of a cloud.
void	createQueryIndices (std::vector< int > &query_indices, PointCloud< PointXYZ >::ConstPtr point_cloud, unsigned query_count)
	create subset of point in cloud to use as query points
int	main (int argc, char **argv)
boost::variate_generator < boost::mt19937, boost::uniform_real< float > >	rand_float (boost::mt19937(), boost::uniform_real< float >(0, 1))
	uniform distributed random number generator for floats in the range [0;1]
boost::variate_generator < boost::mt19937, boost::uniform_int< unsigned > >	rand_uint (boost::mt19937(), boost::uniform_int< unsigned >(0, 10))
	uniform distributed random number generator for unsigned it in range [0;10]
	TEST (PCL, unorganized_dense_cloud_Complete_KNN)
	TEST (PCL, unorganized_dense_cloud_View_KNN)
	TEST (PCL, unorganized_sparse_cloud_Complete_KNN)
	TEST (PCL, unorganized_sparse_cloud_View_KNN)
	TEST (PCL, unorganized_dense_cloud_Complete_Radius)
	TEST (PCL, unorganized_grid_cloud_Complete_Radius)
	TEST (PCL, unorganized_dense_cloud_View_Radius)
	TEST (PCL, unorganized_sparse_cloud_Complete_Radius)
	TEST (PCL, unorganized_sparse_cloud_View_Radius)
	TEST (PCL, Organized_Sparse_Complete_KNN)
	TEST (PCL, Organized_Sparse_View_KNN)
	TEST (PCL, Organized_Sparse_Complete_Radius)
	TEST (PCL, Organized_Sparse_View_Radius)
template<typename PointT >
void	testKNNSearch (typename PointCloud< PointT >::ConstPtr point_cloud, vector< search::Search< PointT > * > search_methods, const vector< int > &query_indices, const vector< int > &input_indices=vector< int >())
	does KNN search and tests the results to be unique, valid and ordered. Additionally it test whether all test methods are returning the same results
bool	testOrder (const vector< float > &distances, const string &name)
	tests whether the ordering of results is ascending on distances
template<typename PointT >
void	testRadiusSearch (typename PointCloud< PointT >::ConstPtr point_cloud, vector< search::Search< PointT > * > search_methods, const vector< int > &query_indices, const vector< int > &input_indices=vector< int >())
	does radius search and tests the results to be unique, valid and ordered. Additionally it test whether all test methods are returning the same results
template<typename PointT >
bool	testResultValidity (const typename PointCloud< PointT >::ConstPtr point_cloud, const vector< bool > &indices_mask, const vector< bool > &nan_mask, const vector< int > &indices, const vector< int > &, const string &name)
	test whether the results are from the view (subset of the cloud) given by input_indices and also not Nan
bool	testUniqueness (const vector< int > &indices, const string &name)
Variables
pcl::search::BruteForce < pcl::PointXYZ >	brute_force
	instance of brute force search method to be tested
pcl::search::KdTree < pcl::PointXYZ >	KDTree
	instance of KDTree search method to be tested
pcl::search::Octree < pcl::PointXYZ >	octree_search (0.1)
	instance of Octree search method to be tested
pcl::search::OrganizedNeighbor < pcl::PointXYZ >	organized
	instance of Organized search method to be tested
std::vector< int >	organized_input_indices
	used by the _VIEW_ tests to use only a subset of points from the point cloud
vector< search::Search < PointXYZ > * >	organized_search_methods
	list of search methods for organized search test
PointCloud< PointXYZ >::Ptr	organized_sparse_cloud (new PointCloud< PointXYZ >)
	organized point cloud
vector< int >	organized_sparse_query_indices
const unsigned int	query_count = 100
	number of search operations on ordered point clouds
PointCloud< PointXYZ >::Ptr	unorganized_dense_cloud (new PointCloud< PointXYZ >)
	unorganized point cloud
vector< int >	unorganized_dense_cloud_query_indices
	lists of indices to be used as query points for various search methods and different cloud types
PointCloud< PointXYZ >::Ptr	unorganized_grid_cloud (new PointCloud< PointXYZ >)
	unorganized point cloud
std::vector< int >	unorganized_input_indices
	used by the _VIEW_ tests to use only a subset of points from the point cloud
const unsigned int	unorganized_point_count = 1200
	number of points used for creating unordered point clouds
vector< search::Search < PointXYZ > * >	unorganized_search_methods
	list of search methods for unorganized search test
PointCloud< PointXYZ >::Ptr	unorganized_sparse_cloud (new PointCloud< PointXYZ >)
	unorganized point cloud
vector< int >	unorganized_sparse_cloud_query_indices

Define Documentation

#define DEBUG_OUT 1

if set to value other than 0 -> fine grained output

Definition at line 56 of file test/test_search.cpp.

#define EXCESSIVE_TESTING 0

Definition at line 57 of file test/test_search.cpp.

#define TEST_ORGANIZED_SPARSE_COMPLETE_KNN 1

Definition at line 68 of file test/test_search.cpp.

#define TEST_ORGANIZED_SPARSE_COMPLETE_RADIUS 1

Definition at line 70 of file test/test_search.cpp.

#define TEST_ORGANIZED_SPARSE_VIEW_KNN 1

Definition at line 69 of file test/test_search.cpp.

#define TEST_ORGANIZED_SPARSE_VIEW_RADIUS 1

Definition at line 71 of file test/test_search.cpp.

#define TEST_unorganized_dense_cloud_COMPLETE_KNN 1

Definition at line 59 of file test/test_search.cpp.

#define TEST_unorganized_dense_cloud_COMPLETE_RADIUS 1

Definition at line 64 of file test/test_search.cpp.

#define TEST_unorganized_dense_cloud_VIEW_KNN 1

Definition at line 60 of file test/test_search.cpp.

#define TEST_unorganized_dense_cloud_VIEW_RADIUS 1

Definition at line 65 of file test/test_search.cpp.

#define TEST_unorganized_grid_cloud_COMPLETE_RADIUS 1

Definition at line 63 of file test/test_search.cpp.

#define TEST_unorganized_sparse_cloud_COMPLETE_KNN 1

Definition at line 61 of file test/test_search.cpp.

#define TEST_unorganized_sparse_cloud_COMPLETE_RADIUS 1

Definition at line 66 of file test/test_search.cpp.

#define TEST_unorganized_sparse_cloud_VIEW_KNN 1

Definition at line 62 of file test/test_search.cpp.

#define TEST_unorganized_sparse_cloud_VIEW_RADIUS 1

Definition at line 67 of file test/test_search.cpp.

Function Documentation

bool compareResults	(	const std::vector< int > &	indices1,
		const ::vector< float > &	distances1,
		const std::string &	name1,
		const std::vector< int > &	indices2,
		const ::vector< float > &	distances2,
		const std::string &	name2,
		float	eps
	)

compares two sets of search results

Parameters:

indices1
distances1
name1
indices2
distances2
name2
eps	threshold for comparing the distances

Returns:: true if both sets are the same, false otherwise

Definition at line 235 of file test/test_search.cpp.

void createIndices	(	std::vector< int > &	indices,
		unsigned	max_index
	)

create an approx 50% view (subset) of a cloud.

Parameters:

indices
max_index	highest accented index usually given by cloud->size () - 1

Definition at line 544 of file test/test_search.cpp.

void createQueryIndices	(	std::vector< int > &	query_indices,
		PointCloud< PointXYZ >::ConstPtr	point_cloud,
		unsigned	query_count
	)

create subset of point in cloud to use as query points

Parameters:

[out]	query_indices	resulting query indices - not guaranteed to have size of query_count but guaranteed not to exceed that value
	cloud	input cloud required to check for nans and to get number of points
[in]	query_count	maximum number of query points

Definition at line 529 of file test/test_search.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 564 of file test/test_search.cpp.

boost::variate_generator< boost::mt19937, boost::uniform_real<float> > rand_float	(	boost::	mt19937(),
		boost::uniform_real< float >	0, 1
	)

uniform distributed random number generator for floats in the range [0;1]

boost::variate_generator< boost::mt19937, boost::uniform_int<unsigned> > rand_uint	(	boost::	mt19937(),
		boost::uniform_int< unsigned >	0, 10
	)

uniform distributed random number generator for unsigned it in range [0;10]

TEST	(	PCL	,
		unorganized_dense_cloud_Complete_KNN
	)

Definition at line 420 of file test/test_search.cpp.

TEST	(	PCL	,
		unorganized_dense_cloud_View_KNN
	)

Definition at line 428 of file test/test_search.cpp.

TEST	(	PCL	,
		unorganized_sparse_cloud_Complete_KNN
	)

Definition at line 436 of file test/test_search.cpp.

TEST	(	PCL	,
		unorganized_sparse_cloud_View_KNN
	)

Definition at line 443 of file test/test_search.cpp.

TEST	(	PCL	,
		unorganized_dense_cloud_Complete_Radius
	)

Definition at line 451 of file test/test_search.cpp.

TEST	(	PCL	,
		unorganized_grid_cloud_Complete_Radius
	)

Definition at line 459 of file test/test_search.cpp.

TEST	(	PCL	,
		unorganized_dense_cloud_View_Radius
	)

Definition at line 475 of file test/test_search.cpp.

TEST	(	PCL	,
		unorganized_sparse_cloud_Complete_Radius
	)

Definition at line 483 of file test/test_search.cpp.

TEST	(	PCL	,
		unorganized_sparse_cloud_View_Radius
	)

Definition at line 490 of file test/test_search.cpp.

TEST	(	PCL	,
		Organized_Sparse_Complete_KNN
	)

Definition at line 497 of file test/test_search.cpp.

TEST	(	PCL	,
		Organized_Sparse_View_KNN
	)

Definition at line 504 of file test/test_search.cpp.

TEST	(	PCL	,
		Organized_Sparse_Complete_Radius
	)

Definition at line 511 of file test/test_search.cpp.

TEST	(	PCL	,
		Organized_Sparse_View_Radius
	)

Definition at line 518 of file test/test_search.cpp.

template<typename PointT >

void testKNNSearch	(	typename PointCloud< PointT >::ConstPtr	point_cloud,
		vector< search::Search< PointT > * >	search_methods,
		const vector< int > &	query_indices,
		const vector< int > &	input_indices = `vector<int> ()`
	)

does KNN search and tests the results to be unique, valid and ordered. Additionally it test whether all test methods are returning the same results

Parameters:

cloud	the input point cloud
search_methods	vector of all search methods to be tested
query_indices	indices of query points in the point cloud (not necessarily in input_indices)
input_indices	indices defining a subset of the point cloud.

Definition at line 283 of file test/test_search.cpp.

bool testOrder	(	const vector< float > &	distances,
		const string &	name
	)

tests whether the ordering of results is ascending on distances

Parameters:

distances	resulting distances from a search
name	name of the search method that returned these distances

Returns:: true if distances in weak ascending order, false otherwise

Definition at line 166 of file test/test_search.cpp.

template<typename PointT >

void testRadiusSearch	(	typename PointCloud< PointT >::ConstPtr	point_cloud,
		vector< search::Search< PointT > * >	search_methods,
		const vector< int > &	query_indices,
		const vector< int > &	input_indices = `vector<int> ()`
	)

does radius search and tests the results to be unique, valid and ordered. Additionally it test whether all test methods are returning the same results

Parameters:

cloud	the input point cloud
search_methods	vector of all search methods to be tested
query_indices	indices of query points in the point cloud (not necessarily in input_indices)
input_indices	indices defining a subset of the point cloud.

Definition at line 354 of file test/test_search.cpp.

template<typename PointT >

bool testResultValidity	(	const typename PointCloud< PointT >::ConstPtr	point_cloud,
		const vector< bool > &	indices_mask,
		const vector< bool > &	nan_mask,
		const vector< int > &	indices,
		const vector< int > &	,
		const string &	name
	)

test whether the results are from the view (subset of the cloud) given by input_indices and also not Nan

Parameters:

indices_mask	defines the subset of allowed points (view) in the result of the search
nan_mask	defines a lookup that indicates whether a point at a given position is finite or not
indices	result of a search to be tested
name	name of search method that returned the result