test_narf.cpp
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00001 /*
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00036 
00037 #include <iostream> 
00038 #include <sstream> 
00039 #include <gtest/gtest.h>
00040 #include <pcl/features/narf.h>
00041 #include <pcl/common/eigen.h>
00042 
00043 using namespace pcl;
00044 
00045 TEST (PCL, Narf_save_load)
00046 {
00047   Narf narf;
00048   getTransformation(1.0f, 2.0f, 3.0f, deg2rad(10.0f), deg2rad(20.0f), deg2rad(30.0f), narf.getTransformation());
00049   narf.getPosition() = narf.getTransformation().inverse().translation ();
00050   narf.getSurfacePatchPixelSize() = 10;
00051   narf.setSurfacePatch(new float[narf.getSurfacePatchPixelSize()*narf.getSurfacePatchPixelSize()]);
00052   for (int i=0; i<narf.getSurfacePatchPixelSize()*narf.getSurfacePatchPixelSize(); ++i)
00053     narf.getSurfacePatch()[i] = static_cast<float> (i);
00054   narf.getSurfacePatchWorldSize() = 0.5f;
00055   narf.getSurfacePatchRotation() = deg2rad(10.0f);
00056   narf.extractDescriptor(36);
00057   
00058   std::stringstream test_stream;
00059   narf.saveBinary(test_stream);
00060   
00061   Narf narf2;
00062   narf2.loadBinary(test_stream);
00063   
00064   //  EXPECT_EQ (narf.getTransformation().matrix(), narf2.getTransformation().matrix());
00065   // The above generates http://msdn.microsoft.com/en-us/library/sxe76d9e.aspx in VS2010
00066   // Therefore we use this:
00067   for (int i=0; i<narf.getTransformation().matrix().size(); ++i)
00068     EXPECT_EQ (narf.getTransformation().data()[i], narf2.getTransformation().data()[i]);
00069   EXPECT_EQ (narf.getPosition(), narf2.getPosition());
00070   EXPECT_EQ (narf.getSurfacePatchPixelSize(), narf2.getSurfacePatchPixelSize());
00071   for (int i=0; i<narf.getSurfacePatchPixelSize()*narf.getSurfacePatchPixelSize(); ++i)
00072     EXPECT_EQ (narf.getSurfacePatch()[i], narf2.getSurfacePatch()[i]);
00073   EXPECT_EQ (narf.getSurfacePatchWorldSize(), narf2.getSurfacePatchWorldSize());
00074   EXPECT_EQ (narf.getSurfacePatchRotation(), narf2.getSurfacePatchRotation());
00075   EXPECT_EQ (narf.getDescriptorSize(), narf2.getDescriptorSize());
00076   for (int i=0; i<narf.getDescriptorSize(); ++i)
00077     EXPECT_EQ (narf.getDescriptor()[i], narf2.getDescriptor()[i]);
00078 }
00079 
00080 /* ---[ */
00081 int
00082   main (int argc, char** argv)
00083 {
00084   testing::InitGoogleTest (&argc, argv);
00085   return (RUN_ALL_TESTS ());
00086 }
00087 /* ]--- */


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:18:20