test_correspondence_estimation.cpp
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00001 /*
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00037 
00038 #include <gtest/gtest.h>
00039 #include <pcl/io/pcd_io.h>
00040 #include <pcl/registration/correspondence_estimation_normal_shooting.h>
00041 #include <pcl/features/normal_3d.h>
00042 #include <pcl/kdtree/kdtree.h>
00043 
00045 TEST (CorrespondenceEstimation, CorrespondenceEstimationNormalShooting)
00046 {
00047   pcl::PointCloud<pcl::PointXYZ>::Ptr cloud1 (new pcl::PointCloud<pcl::PointXYZ> ());
00048   pcl::PointCloud<pcl::PointXYZ>::Ptr cloud2 (new pcl::PointCloud<pcl::PointXYZ> ());
00049 
00050   // Defining two parallel planes differing only by the y co-ordinate
00051   for (float i = 0; i < 10; i += 0.2)
00052   {
00053     for (float z = 0; z < 5; z += 0.2)
00054     {
00055       cloud1->points.push_back (pcl::PointXYZ (i, 0, z));
00056       cloud2->points.push_back (pcl::PointXYZ (i, 2, z)); // Ideally this should be the corresponding point to the point defined in the previous line
00057     }
00058   }
00059         
00060   pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
00061   ne.setInputCloud (cloud1); 
00062 
00063   pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ> ());
00064   ne.setSearchMethod (tree);
00065 
00066   pcl::PointCloud<pcl::Normal>::Ptr cloud1_normals (new pcl::PointCloud<pcl::Normal>);
00067   ne.setKSearch (5);
00068   ne.compute (*cloud1_normals); // All normals are perpendicular to the plane defined
00069 
00070   pcl::CorrespondencesPtr corr (new pcl::Correspondences);
00071   pcl::registration::CorrespondenceEstimationNormalShooting <pcl::PointXYZ, pcl::PointXYZ, pcl::Normal> ce;
00072   ce.setInputCloud (cloud1);
00073   ce.setKSearch (10);
00074   ce.setSourceNormals (cloud1_normals);
00075   ce.setInputTarget (cloud2);
00076   ce.determineCorrespondences (*corr);
00077 
00078   // Based on the data defined, the correspondence indices should be 1 <-> 1 , 2 <-> 2 , 3 <-> 3 etc.
00079   for (unsigned int i = 0; i < corr->size (); i++)
00080   {
00081     EXPECT_EQ ((*corr)[i].index_query, (*corr)[i].index_match);
00082   }
00083 }
00084 
00085 /* ---[ */
00086 int
00087   main (int argc, char** argv)
00088 {
00089   testing::InitGoogleTest (&argc, argv);
00090   return (RUN_ALL_TESTS ());
00091 }
00092 /* ]--- */


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:18:14