TEST (PCL, Octree_Test)
{
unsigned int i, j;
int data[256];
// create octree instance
OctreeBase<int> octreeA;
OctreeBase<int> octreeB;
// set octree depth
octreeA.setTreeDepth (8);
octreeB.setTreeDepth (8);
struct MyVoxel
{
unsigned int x;unsigned int y;unsigned int z;
};
MyVoxel voxels[256];
srand (time (NULL));
// generate some voxel indices
for (i = 0; i < 256; i++)
{
data[i] = i;
voxels[i].x = i;
voxels[i].y = 255 - i;
voxels[i].z = i;
// add data to leaf node voxel
octreeA.add (voxels[i].x, voxels[i].y, voxels[i].z, data[i]);
}
int LeafNode;
for (i = 0; i < 128; i++)
{
// retrieve data from leaf node voxel
octreeA.get (voxels[i].x, voxels[i].y, voxels[i].z, LeafNode);
// check if retrieved data is identical to data[]
ASSERT_EQ (LeafNode, data[i]);
}
for (i=128; i<256; i++)
{
// check if leaf node exists in tree
ASSERT_EQ ( octreeA.existLeaf(voxels[i].x,voxels[i].y,voxels[i].z) , true);
// remove leaf node
octreeA.removeLeaf(voxels[i].x,voxels[i].y,voxels[i].z);
// leaf node shouldn't exist in tree anymore
ASSERT_EQ ( octreeA.existLeaf(voxels[i].x,voxels[i].y,voxels[i].z) , false);
}
// test serialization
std::vector<char> treeBinaryA;
std::vector<char> treeBinaryB;
std::vector<int> leafVectorA;
std::vector<int> leafVectorB;
// serialize tree - generate binary octree description
octreeA.serializeTree(treeBinaryA);
// deserialize tree - rebuild octree based on binary octree description
octreeB.deserializeTree(treeBinaryA);
for (i=0; i<128; i++)
{
// check if leafs exist in both octrees
ASSERT_EQ ( octreeA.existLeaf(voxels[i].x,voxels[i].y,voxels[i].z), true);
ASSERT_EQ ( octreeB.existLeaf(voxels[i].x,voxels[i].y,voxels[i].z) , true);
}
for (i=128; i<256; i++)
{
// these leafs were not copies and should not exist
ASSERT_EQ ( octreeB.existLeaf(voxels[i].x,voxels[i].y,voxels[i].z) , false);
}
// testing deleteTree();
octreeB.deleteTree();
// octreeB.getLeafCount() should be zero now;
ASSERT_EQ (0,octreeB.getLeafCount());
// .. and previous leafs deleted..
for (i=0; i<128; i++)
{
ASSERT_EQ (octreeB.existLeaf(voxels[i].x,voxels[i].y,voxels[i].z) , false);
}
// test tree serialization
octreeA.serializeTree(treeBinaryA, leafVectorA);
// make sure, we retrieved all data objects
ASSERT_EQ (leafVectorA.size(), octreeA.getLeafCount());
// check if leaf data is found in octree input data
bool bFound;
for (i=0; i<128; i++)
{
int leafInt = leafVectorA.back();
leafVectorA.pop_back();
bFound = false;
for (j=0; j<256; j++)
if ( data[j]==leafInt )
{
bFound = true;
break;
}
ASSERT_EQ (bFound, true);
}
// test tree serialization
octreeA.serializeLeafs(leafVectorA);
for (i=0; i<128; i++)
{
int leafInt = leafVectorA.back();
leafVectorA.pop_back();
bFound = false;
for (j=0; j<256; j++)
if ( data[j]==leafInt )
{
bFound = true;
break;
}
ASSERT_EQ (bFound, true);
}
// test tree serialization with leaf data vectors
octreeA.serializeTree(treeBinaryA, leafVectorA);
octreeB.deserializeTree(treeBinaryA, leafVectorA);
// test size and leaf count of reconstructed octree
ASSERT_EQ (octreeA.getLeafCount(),octreeB.getLeafCount());
ASSERT_EQ (128,octreeB.getLeafCount());
octreeB.serializeTree(treeBinaryB, leafVectorB);
// compare octree data content of octree A and octree B
ASSERT_EQ (leafVectorB.size(), octreeB.getLeafCount());
ASSERT_EQ (leafVectorA.size(), leafVectorB.size());
for (i=0; i<leafVectorB.size(); i++)
{
ASSERT_EQ ( (leafVectorA[i] == leafVectorB[i]), true );
}
}
TEST (PCL, Octree_Test)
{
unsigned int i, j;
int data[256];
// create octree instance
OctreeBase<int> octreeA;
OctreeBase<int> octreeB;
// set octree depth
octreeA.setTreeDepth (8);
octreeB.setTreeDepth (8);
struct MyVoxel
{
unsigned int x;
unsigned int y;
unsigned int z;
};
MyVoxel voxels[256];
srand (static_cast<unsigned int> (time (NULL)));
// generate some voxel indices
for (i = 0; i < 256; i++)
{
data[i] = i;
voxels[i].x = i;
voxels[i].y = 255 - i;
voxels[i].z = i;
// add data to leaf node voxel
int* voxel_container = octreeA.createLeaf(voxels[i].x, voxels[i].y, voxels[i].z);
*voxel_container = data[i];
}
for (i = 0; i < 128; i++)
{
// retrieve data from leaf node voxel
int* voxel_container = octreeA.createLeaf(voxels[i].x, voxels[i].y, voxels[i].z);
// check if retrieved data is identical to data[]
ASSERT_EQ (data[i], *voxel_container);
}
for (i = 128; i < 256; i++)
{
// check if leaf node exists in tree
ASSERT_TRUE (octreeA.existLeaf (voxels[i].x, voxels[i].y, voxels[i].z));
// remove leaf node
octreeA.removeLeaf (voxels[i].x, voxels[i].y, voxels[i].z);
// leaf node shouldn't exist in tree anymore
ASSERT_FALSE (octreeA.existLeaf (voxels[i].x, voxels[i].y, voxels[i].z));
}
// test serialization
std::vector<char> treeBinaryA;
std::vector<char> treeBinaryB;
std::vector<int*> leafVectorA;
std::vector<int*> leafVectorB;
// serialize tree - generate binary octree description
octreeA.serializeTree (treeBinaryA);
// deserialize tree - rebuild octree based on binary octree description
octreeB.deserializeTree (treeBinaryA);
for (i = 0; i < 128; i++)
{
// check if leafs exist in both octrees
ASSERT_TRUE (octreeA.existLeaf (voxels[i].x, voxels[i].y, voxels[i].z));
ASSERT_TRUE (octreeB.existLeaf (voxels[i].x, voxels[i].y, voxels[i].z));
}
for (i = 128; i < 256; i++)
{
// these leafs were not copies and should not exist
ASSERT_FALSE (octreeB.existLeaf (voxels[i].x, voxels[i].y, voxels[i].z));
}
// testing deleteTree();
octreeB.deleteTree ();
// octreeB.getLeafCount() should be zero now;
ASSERT_EQ (0u, octreeB.getLeafCount ());
// .. and previous leafs deleted..
for (i = 0; i < 128; i++)
{
ASSERT_FALSE (octreeB.existLeaf (voxels[i].x, voxels[i].y, voxels[i].z));
}
// test tree serialization
octreeA.serializeTree (treeBinaryA, leafVectorA);
// make sure, we retrieved all data objects
ASSERT_EQ (octreeA.getLeafCount (), leafVectorA.size ());
// check if leaf data is found in octree input data
bool bFound;
for (i = 0; i < 128; i++)
{
int leafInt = *leafVectorA.back ();
leafVectorA.pop_back ();
bFound = false;
for (j = 0; j < 256; j++)
if (data[j] == leafInt)
{
bFound = true;
break;
}
ASSERT_TRUE (bFound);
}
// test tree serialization
octreeA.serializeLeafs (leafVectorA);
for (i = 0; i < 128; i++)
{
int leafInt = *leafVectorA.back ();
leafVectorA.pop_back ();
bFound = false;
for (j = 0; j < 256; j++)
if (data[j] == leafInt)
{
bFound = true;
break;
}
ASSERT_TRUE (bFound);
}
// test tree serialization with leaf data vectors
octreeA.serializeTree (treeBinaryA, leafVectorA);
octreeB.deserializeTree (treeBinaryA, leafVectorA);
// test size and leaf count of reconstructed octree
ASSERT_EQ (octreeA.getLeafCount (), octreeB.getLeafCount ());
ASSERT_EQ (128u, octreeB.getLeafCount ());
octreeB.serializeTree (treeBinaryB, leafVectorB);
// compare octree data content of octree A and octree B
ASSERT_EQ (leafVectorB.size (), octreeB.getLeafCount ());
ASSERT_EQ (leafVectorA.size (), leafVectorB.size ());
for (i = 0; i < leafVectorB.size (); i++)
{
ASSERT_EQ (*leafVectorA[i], *leafVectorB[i]);
}
// test iterator
OctreeBase<int>::Iterator a_it;
OctreeBase<int>::Iterator a_it_end = octreeA.end();
unsigned int node_count = 0;
unsigned int branch_count = 0;
unsigned int leaf_count = 0;
// iterate over tree
for (a_it=octreeA.begin(); a_it!=a_it_end; ++a_it)
{
// depth should always be less than tree depth
unsigned int depth = a_it.getCurrentOctreeDepth ();
ASSERT_LE (depth, octreeA.getTreeDepth ());
// store node, branch and leaf count
const OctreeNode* node = a_it.getCurrentOctreeNode ();
if (node->getNodeType () == BRANCH_NODE)
{
branch_count++;
}
else if (node->getNodeType () == LEAF_NODE)
{
leaf_count++;
}
node_count++;
}
// compare node, branch and leaf count against actual tree values
ASSERT_EQ (branch_count + leaf_count, node_count);
ASSERT_EQ (octreeA.getLeafCount (), leaf_count);
}