/*public*/
bool
Geometry::getCentroid(Coordinate& ret) const
{
if ( isEmpty() ) { return false; }
Coordinate c;
int dim=getDimension();
if(dim==0) {
CentroidPoint cent;
cent.add(this);
if ( ! cent.getCentroid(c) )
return false;
} else if (dim==1) {
CentroidLine cent;
cent.add(this);
if ( ! cent.getCentroid(c) )
return false;
} else {
CentroidArea cent;
cent.add(this);
if ( ! cent.getCentroid(c) )
return false;
}
getPrecisionModel()->makePrecise(c);
ret=c;
return true;
}
TEST (PCL, CentroidPoint)
{
PointXYZ p1; p1.getVector3fMap () << 1, 2, 3;
PointXYZ p2; p2.getVector3fMap () << 3, 2, 1;
PointXYZ p3; p3.getVector3fMap () << 5, 5, 5;
// Zero points (get should have no effect)
{
CentroidPoint<PointXYZ> centroid;
PointXYZ c (100, 100, 100);
centroid.get (c);
EXPECT_XYZ_EQ (PointXYZ (100, 100, 100), c);
}
// Single point
{
CentroidPoint<PointXYZ> centroid;
centroid.add (p1);
PointXYZ c;
centroid.get (c);
EXPECT_XYZ_EQ (p1, c);
}
// Multiple points
{
CentroidPoint<PointXYZ> centroid;
centroid.add (p1);
centroid.add (p2);
centroid.add (p3);
PointXYZ c;
centroid.get (c);
EXPECT_XYZ_EQ (PointXYZ (3, 3, 3), c);
}
// Retrieve centroid into a different point type
{
CentroidPoint<PointXYZ> centroid;
centroid.add (p1);
PointXYZRGB c; c.rgba = 0x00FFFFFF;
centroid.get (c);
EXPECT_XYZ_EQ (p1, c);
EXPECT_EQ (0x00FFFFFF, c.rgba);
}
// Centroid with XYZ and RGB
{
PointXYZRGB cp1; cp1.getVector3fMap () << 4, 2, 4; cp1.rgba = 0xFF330000;
PointXYZRGB cp2; cp2.getVector3fMap () << 2, 4, 2; cp2.rgba = 0xFF003300;
PointXYZRGB cp3; cp3.getVector3fMap () << 3, 3, 3; cp3.rgba = 0xFF000033;
CentroidPoint<PointXYZRGB> centroid;
centroid.add (cp1);
centroid.add (cp2);
centroid.add (cp3);
PointXYZRGB c;
centroid.get (c);
EXPECT_XYZ_EQ (PointXYZ (3, 3, 3), c);
EXPECT_EQ (0xFF111111, c.rgba);
}
// Centroid with normal and curavture
{
Normal np1; np1.getNormalVector4fMap () << 1, 0, 0, 0; np1.curvature = 0.2;
Normal np2; np2.getNormalVector4fMap () << -1, 0, 0, 0; np2.curvature = 0.1;
Normal np3; np3.getNormalVector4fMap () << 0, 1, 0, 0; np3.curvature = 0.9;
CentroidPoint<Normal> centroid;
centroid.add (np1);
centroid.add (np2);
centroid.add (np3);
Normal c;
centroid.get (c);
EXPECT_NORMAL_EQ (np3, c);
EXPECT_FLOAT_EQ (0.4, c.curvature);
}
// Centroid with XYZ and intensity
{
PointXYZI ip1; ip1.getVector3fMap () << 1, 2, 3; ip1.intensity = 0.8;
PointXYZI ip2; ip2.getVector3fMap () << 3, 2, 1; ip2.intensity = 0.2;
PointXYZI ip3; ip3.getVector3fMap () << 5, 5, 5; ip3.intensity = 0.2;
CentroidPoint<PointXYZI> centroid;
centroid.add (ip1);
centroid.add (ip2);
centroid.add (ip3);
PointXYZI c;
centroid.get (c);
EXPECT_XYZ_EQ (PointXYZ (3, 3, 3), c);
EXPECT_FLOAT_EQ (0.4, c.intensity);
}
// Centroid with label
{
Label lp1; lp1.label = 1;
Label lp2; lp2.label = 1;
Label lp3; lp3.label = 2;
CentroidPoint<Label> centroid;
centroid.add (lp1);
centroid.add (lp2);
centroid.add (lp3);
Label c;
centroid.get (c);
EXPECT_EQ (1, c.label);
}
}