test_frir.cpp File Reference

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: More...

#include <ros/ros.h>
#include <pluginlib/class_list_macros.h>
#include <nodelet/nodelet.h>
#include <tf_conversions/tf_eigen.h>
#include <tf/transform_broadcaster.h>
#include <actionlib/server/simple_action_server.h>
#include <pcl/point_types.h>
#include <pcl/filters/passthrough.h>
#include <pcl_ros/transforms.h>
#include <pcl_ros/point_cloud.h>
#include <tf/transform_listener.h>
#include <tf_conversions/tf_kdl.h>
#include <pcl/io/pcd_io.h>
#include <registration/general_registration.h>
#include <registration/registration_info.h>
#include <registration/measurements/measure.h>
#include <boost/progress.hpp>
#include <gtest/gtest.h>

Include dependency graph for test_frir.cpp:

Go to the source code of this file.

Defines
#define	BLOCKSIZE   40
#define	CYCLES   100
#define	getInd(x, y)   ((x)+(y)*pc.width)
#define	PCL_MINOR   (PCL_VERSION[2] - '0')
Functions
void	generateNaNOrderedPC_Kinect (const int w, const int h, pcl::PointCloud< pcl::PointXYZ > &pc)
void	generateRandomOrderedPC_Kinect (const int w, const int h, pcl::PointCloud< pcl::PointXYZ > &pc)
int	main (int argc, char **argv)
void	reproject (const pcl::PointCloud< pcl::PointXYZ > &pc, pcl::PointCloud< pcl::PointXYZ > &pc_out, const Eigen::Matrix4f T)
	TEST (Registration_FRIF, null_ptrs)
	TEST (Registration_FRIF, nans)
	TEST (Registration_FRIF, many_random_pcs)
	TEST (Registration_FRIF, many_tfs)
void	test_many_random_pcs ()
void	test_many_tfs ()
void	test_nans ()
void	test_null_ptrs ()

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Detailed Description

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Note:

Copyright (c) 2012
Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)

Project name: TODO FILL IN PROJECT NAME HERE

ROS stack name: TODO FILL IN STACK NAME HERE

ROS package name: TODO FILL IN PACKAGE NAME HERE

Author:

Author: TODO FILL IN AUTHOR NAME HERE

Supervised by: TODO FILL IN CO-AUTHOR NAME(S) HERE

Date:

Date of creation: TODO FILL IN DATE HERE

• Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
  
• Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
  
• Neither the name of the Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
  

This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License LGPL as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License LGPL for more details.

You should have received a copy of the GNU Lesser General Public License LGPL along with this program. If not, see <http://www.gnu.org/licenses/>.

Definition in file test_frir.cpp.

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Define Documentation

#define BLOCKSIZE   40

Definition at line 88 of file test_frir.cpp.

#define CYCLES   100

Definition at line 87 of file test_frir.cpp.

#define getInd	(		x,
			y
	)		((x)+(y)*pc.width)

Definition at line 118 of file test_frir.cpp.

#define PCL_MINOR   (PCL_VERSION[2] - '0')

Definition at line 71 of file test_frir.cpp.

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Function Documentation

void generateNaNOrderedPC_Kinect	(	const int	w,
		const int	h,
		pcl::PointCloud< pcl::PointXYZ > &	pc
	)

Definition at line 154 of file test_frir.cpp.

void generateRandomOrderedPC_Kinect	(	const int	w,
		const int	h,
		pcl::PointCloud< pcl::PointXYZ > &	pc
	)

Definition at line 90 of file test_frir.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 324 of file test_frir.cpp.

void reproject	(	const pcl::PointCloud< pcl::PointXYZ > &	pc,
		pcl::PointCloud< pcl::PointXYZ > &	pc_out,
		const Eigen::Matrix4f	T
	)

Definition at line 119 of file test_frir.cpp.

TEST	(	Registration_FRIF	,
		null_ptrs
	)

Definition at line 308 of file test_frir.cpp.

TEST	(	Registration_FRIF	,
		nans
	)

Definition at line 312 of file test_frir.cpp.

TEST	(	Registration_FRIF	,
		many_random_pcs
	)

Definition at line 316 of file test_frir.cpp.

TEST	(	Registration_FRIF	,
		many_tfs
	)

Definition at line 320 of file test_frir.cpp.

void test_many_random_pcs

(

)

Definition at line 191 of file test_frir.cpp.

void test_many_tfs

(

)

Definition at line 224 of file test_frir.cpp.

void test_nans

(

)

Definition at line 177 of file test_frir.cpp.

void test_null_ptrs

(

)

Definition at line 168 of file test_frir.cpp.