test_point_types.cpp

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/*
 * Copyright (c) 2018, the mcl_3dl authors
 * All rights reserved.
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 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include <gtest/gtest.h>

#include <pcl_ros/point_cloud.h>
#include <pcl/filters/voxel_grid.h>

#include <pcl18_backports/voxel_grid.h>

#include <mcl_3dl/point_types.h>

TEST(PointTypes, VoxelGrid)
{
  pcl::PointCloud<mcl_3dl::PointXYZIL>::Ptr pc(new pcl::PointCloud<mcl_3dl::PointXYZIL>);
  pc->resize(3);
  pc->points[0].x = 1.0;
  pc->points[0].y = 2.0;
  pc->points[0].z = 3.0;
  pc->points[0].intensity = 4.0;
  pc->points[0].label = 1;
  pc->points[1].x = 1.02;
  pc->points[1].y = 2.02;
  pc->points[1].z = 3.02;
  pc->points[1].intensity = 5.0;
  pc->points[1].label = 3;
  pc->points[2].x = -1.0;
  pc->points[2].y = -2.0;
  pc->points[2].z = -3.0;
  pc->points[2].intensity = 6.0;
  pc->points[2].label = 4;

  pcl::PointCloud<mcl_3dl::PointXYZIL>::Ptr pc2(new pcl::PointCloud<mcl_3dl::PointXYZIL>);
  pcl::VoxelGrid18<mcl_3dl::PointXYZIL> ds;
  ds.setInputCloud(pc);
  ds.setLeafSize(0.1, 0.1, 0.1);
  ds.filter(*pc2);

  ASSERT_EQ(pc2->size(), 2u);
  int num_1(0), num_4(0);
  for (auto &p : *pc2)
  {
    switch (p.label)
    {
      case 1u:
      case 3u:
        ASSERT_FLOAT_EQ(p.x, 1.01);
        ASSERT_FLOAT_EQ(p.y, 2.01);
        ASSERT_FLOAT_EQ(p.z, 3.01);
        ASSERT_FLOAT_EQ(p.intensity, 4.5);
        num_1++;
        break;
      case 4u:
        ASSERT_EQ(p.x, -1.0);
        ASSERT_EQ(p.y, -2.0);
        ASSERT_EQ(p.z, -3.0);
        ASSERT_EQ(p.intensity, 6.0);
        num_4++;
        break;
      default:
        ASSERT_TRUE(false)
            << "Unexpected point label (" << p.label << "); "
            << "original labels are [1, 3, 4]";
        break;
    }
  }
  ASSERT_TRUE(num_1 == 1 && num_4 == 1);
}

int main(int argc, char **argv)
{
  testing::InitGoogleTest(&argc, argv);

  return RUN_ALL_TESTS();
}