test_non_linear.cpp
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00001 /*
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00036  * $Id: test_segmentation.cpp 3564 2011-12-16 06:11:13Z rusu $
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00038  */
00039 
00040 #include <gtest/gtest.h>
00041 #include <pcl/point_types.h>
00042 #include <pcl/point_cloud.h>
00043 #include <pcl/io/pcd_io.h>
00044 #include <pcl/ModelCoefficients.h>
00045 #include <pcl/PointIndices.h>
00046 #include <pcl/sample_consensus/model_types.h>
00047 #include <pcl/sample_consensus/method_types.h>
00048 #include <pcl/segmentation/sac_segmentation.h>
00049 
00050 using namespace pcl;
00051 using namespace pcl::io;
00052 
00053 PointCloud<PointXYZ>::Ptr cloud_;
00054 
00056 TEST (SACSegmentation, Segmentation)
00057 {
00058   ModelCoefficients::Ptr sphere_coefficients (new ModelCoefficients);
00059   PointIndices::Ptr inliers (new PointIndices);
00060 
00061   SACSegmentation<PointXYZ> seg;
00062   seg.setOptimizeCoefficients (true);
00063   seg.setModelType (SACMODEL_SPHERE);
00064   seg.setMethodType (SAC_RANSAC);
00065   seg.setMaxIterations (10000);
00066   seg.setDistanceThreshold (0.01);
00067   seg.setRadiusLimits (0.03, 0.07); // true radius is 0.05
00068   seg.setInputCloud (cloud_);
00069   seg.segment (*inliers, *sphere_coefficients);
00070 
00071   EXPECT_NEAR (sphere_coefficients->values[0], 0.998776,  1e-2);
00072   EXPECT_NEAR (sphere_coefficients->values[1], 0.752023,  1e-2);
00073   EXPECT_NEAR (sphere_coefficients->values[2], 1.24558,   1e-2);
00074   EXPECT_NEAR (sphere_coefficients->values[3], 0.0536238, 1e-2);
00075 
00076   EXPECT_NEAR (static_cast<int> (inliers->indices.size ()), 3516, 10);
00077 }
00078 
00079 //* ---[ */
00080 int
00081   main (int argc, char** argv)
00082 {
00083   if (argc < 2)
00084   {
00085     std::cerr << "No test file given. Please download `noisy_slice_displaced.pcd` and pass its path to the test." << std::endl;
00086     return (-1);
00087   }
00088 
00089   // Load a standard PCD file from disk
00090   PointCloud<PointXYZ> cloud;
00091   if (loadPCDFile (argv[1], cloud) < 0)
00092   {
00093     std::cerr << "Failed to read test file. Please download `noisy_slice_displaced.pcd` and pass its path to the test." << std::endl;
00094     return (-1);
00095   }
00096 
00097   cloud_   = cloud.makeShared ();
00098 
00099   testing::InitGoogleTest (&argc, argv);
00100   return (RUN_ALL_TESTS ());
00101 }
00102 /* ]--- */


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:35:10