TEST (PCL, IINormalEstimationAverageDepthChange)
{
PointCloud<Normal> output;
ne.setRectSize (3, 3);
ne.setNormalEstimationMethod (ne.AVERAGE_DEPTH_CHANGE);
ne.compute (output);
EXPECT_EQ (output.points.size (), cloud.points.size ());
EXPECT_EQ (output.width, cloud.width);
EXPECT_EQ (output.height, cloud.height);
for (size_t v = 0; v < cloud.height; ++v)
{
for (size_t u = 0; u < cloud.width; ++u)
{
if (!pcl_isfinite(output (u, v).normal_x) &&
!pcl_isfinite(output (u, v).normal_y) &&
!pcl_isfinite(output (u, v).normal_z))
continue;
if (fabs(fabs (output (u, v).normal_z) - 1) > 1e-2)
{
std::cout << "T:" << u << " , " << v << " : " << output (u, v).normal_x << " , " << output (u, v).normal_y << " , " << output (u, v).normal_z <<std::endl;
}
EXPECT_NEAR (fabs (output (u, v).normal_x), 0, 1e-2);
EXPECT_NEAR (fabs (output (u, v).normal_y), 0, 1e-2);
//EXPECT_NEAR (fabs (output (u, v).normal_z), 1.0, 1e-2);
}
}
}
TEST (PCL, IINormalEstimationSimple3DGradient)
{
PointCloud<Normal> output;
ne.setRectSize (3, 3);
ne.setNormalEstimationMethod (ne.SIMPLE_3D_GRADIENT);
ne.compute (output);
EXPECT_EQ (output.points.size (), cloud.points.size ());
EXPECT_EQ (output.width, cloud.width);
EXPECT_EQ (output.height, cloud.height);
for (size_t v = 0; v < cloud.height; ++v)
{
for (size_t u = 0; u < cloud.width; ++u)
{
if (!pcl_isfinite(output (u, v).normal_x) &&
!pcl_isfinite(output (u, v).normal_y) &&
!pcl_isfinite(output (u, v).normal_z))
continue;
if (fabs(fabs (output (u, v).normal_z) - 1) > 1e-2)
{
std::cout << "T:" << u << " , " << v << " : " << output (u, v).normal_x << " , " << output (u, v).normal_y << " , " << output (u, v).normal_z <<std::endl;
}
EXPECT_NEAR (fabs (output (u, v).normal_x), 0, 1e-2);
EXPECT_NEAR (fabs (output (u, v).normal_y), 0, 1e-2);
//EXPECT_NEAR (fabs (output (u, v).normal_z), 1.0, 1e-2);
}
}
}
TEST (PCL, IINormalEstimationCovariance)
{
PointCloud<Normal> output;
ne.setRectSize (3, 3);
ne.setNormalEstimationMethod (ne.COVARIANCE_MATRIX);
ne.compute (output);
EXPECT_EQ (output.points.size (), cloud.points.size ());
EXPECT_EQ (output.width, cloud.width);
EXPECT_EQ (output.height, cloud.height);
for (size_t v = 0; v < cloud.height; ++v)
{
for (size_t u = 0; u < cloud.width; ++u)
{
if (!pcl_isfinite(output (u, v).normal_x) &&
!pcl_isfinite(output (u, v).normal_y) &&
!pcl_isfinite(output (u, v).normal_z))
continue;
EXPECT_NEAR (fabs (output (u, v).normal_x), 0, 1e-2);
EXPECT_NEAR (fabs (output (u, v).normal_y), 0, 1e-2);
EXPECT_NEAR (fabs (output (u, v).normal_z), 1.0, 1e-2);
}
}
}
TEST (PCL, IINormalEstimationSimple3DGradientUnorganized)
{
PointCloud<Normal> output;
cloud.height = 1;
cloud.points.resize (cloud.height * cloud.width);
ne.setInputCloud (cloud.makeShared ());
ne.setRectSize (3, 3);
ne.setNormalEstimationMethod (ne.SIMPLE_3D_GRADIENT);
ne.compute (output);
EXPECT_EQ (output.points.size (), 0);
EXPECT_EQ (output.width, 0);
EXPECT_EQ (output.height, 0);
}
