TEST(PCA, projection)
{
pcl::PointXYZ projected, reconstructed;
for(size_t i = 0; i < cloud.size(); i++)
{
pca.project (cloud[i], projected);
pca.reconstruct (projected, reconstructed);
EXPECT_NEAR_VECTORS (reconstructed.getVector3fMap (), cloud[i].getVector3fMap (), 2.5e-4);
}
}
TEST(PCA, projection)
{
pcl::PointXYZ projected, reconstructed;
for(const auto &point : cloud)
{
pca.project (point, projected);
pca.reconstruct (projected, reconstructed);
EXPECT_NEAR_VECTORS (reconstructed.getVector3fMap (), point.getVector3fMap (), 2.5e-4);
}
}
int main (int argc, char** argv)
{
cloud.width = 5;
cloud.height = 4 ;
cloud.is_dense = true;
cloud.resize(20);
cloud[0].x = 100; cloud[0].y = 8; cloud[0].z = 5;
cloud[1].x = 228; cloud[1].y = 21; cloud[1].z = 2;
cloud[2].x = 341; cloud[2].y = 31; cloud[2].z = 10;
cloud[3].x = 472; cloud[3].y = 40; cloud[3].z = 15;
cloud[4].x = 578; cloud[4].y = 48; cloud[4].z = 3;
cloud[5].x = 699; cloud[5].y = 60; cloud[5].z = 12;
cloud[6].x = 807; cloud[6].y = 71; cloud[6].z = 14;
cloud[7].x = 929; cloud[7].y = 79; cloud[7].z = 16;
cloud[8].x = 1040; cloud[8].y = 92; cloud[8].z = 18;
cloud[9].x = 1160; cloud[9].y = 101; cloud[9].z = 38;
cloud[10].x = 1262; cloud[10].y = 109; cloud[10].z = 28;
cloud[11].x = 1376; cloud[11].y = 121; cloud[11].z = 32;
cloud[12].x = 1499; cloud[12].y = 128; cloud[12].z = 35;
cloud[13].x = 1620; cloud[13].y = 143; cloud[13].z = 28;
cloud[14].x = 1722; cloud[14].y = 150; cloud[14].z = 30;
cloud[15].x = 1833; cloud[15].y = 159; cloud[15].z = 15;
cloud[16].x = 1948; cloud[16].y = 172; cloud[16].z = 12;
cloud[17].x = 2077; cloud[17].y = 181; cloud[17].z = 33;
cloud[18].x = 2282; cloud[18].y = 190; cloud[18].z = 23;
cloud[19].x = 2999; cloud[19].y = 202; cloud[19].z = 29;
pca.setInputCloud (cloud.makeShared ());
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}
TEST(PCA, cloud_projection)
{
pcl::PointCloud<pcl::PointXYZ> cloud_projected, cloud_reconstructed;
try
{
pca.project (cloud, cloud_projected);
EXPECT_EQ (cloud.size (), cloud_projected.size ());
pca.reconstruct (cloud_projected, cloud_reconstructed);
EXPECT_EQ (cloud_reconstructed.size (), cloud_projected.size ());
for(size_t i = 0; i < cloud.size(); i++)
EXPECT_NEAR_VECTORS (cloud[i].getVector3fMap (),
cloud_reconstructed[i].getVector3fMap (),
2.5e-4);
}
catch (pcl::InitFailedException &e)
{
std::cerr << "something wrong" << std::endl;
}
}
void pushEigenMarker(pcl::PCA<T>& pca,
int& marker_id,
MarkerArray& marker_array,
double scale,
const std::string& frame_id)
{
Marker marker;
marker.lifetime = ros::Duration(0.1);
marker.header.frame_id = frame_id;
marker.ns = "cluster_eigen";
marker.type = Marker::ARROW;
marker.scale.y = 0.01;
marker.scale.z = 0.01;
marker.pose.position.x = pca.getMean().coeff(0);
marker.pose.position.y = pca.getMean().coeff(1);
marker.pose.position.z = pca.getMean().coeff(2);
Eigen::Quaternionf qx, qy, qz;
Eigen::Matrix3f ev = pca.getEigenVectors();
Eigen::Vector3f axis_x(ev.coeff(0, 0), ev.coeff(1, 0), ev.coeff(2, 0));
Eigen::Vector3f axis_y(ev.coeff(0, 1), ev.coeff(1, 1), ev.coeff(2, 1));
Eigen::Vector3f axis_z(ev.coeff(0, 2), ev.coeff(1, 2), ev.coeff(2, 2));
qx.setFromTwoVectors(Eigen::Vector3f(1, 0, 0), axis_x);
qy.setFromTwoVectors(Eigen::Vector3f(1, 0, 0), axis_y);
qz.setFromTwoVectors(Eigen::Vector3f(1, 0, 0), axis_z);
marker.id = marker_id++;
marker.scale.x = pca.getEigenValues().coeff(0) * scale;
marker.pose.orientation.x = qx.x();
marker.pose.orientation.y = qx.y();
marker.pose.orientation.z = qx.z();
marker.pose.orientation.w = qx.w();
marker.color.b = 0.0;
marker.color.g = 0.0;
marker.color.r = 1.0;
marker.color.a = 1.0;
marker_array.markers.push_back(marker);
marker.id = marker_id++;
marker.scale.x = pca.getEigenValues().coeff(1) * scale;
marker.pose.orientation.x = qy.x();
marker.pose.orientation.y = qy.y();
marker.pose.orientation.z = qy.z();
marker.pose.orientation.w = qy.w();
marker.color.b = 0.0;
marker.color.g = 1.0;
marker.color.r = 0.0;
marker_array.markers.push_back(marker);
marker.id = marker_id++;
marker.scale.x = pca.getEigenValues().coeff(2) * scale;
marker.pose.orientation.x = qz.x();
marker.pose.orientation.y = qz.y();
marker.pose.orientation.z = qz.z();
marker.pose.orientation.w = qz.w();
marker.color.b = 1.0;
marker.color.g = 0.0;
marker.color.r = 0.0;
marker_array.markers.push_back(marker);
}
bool compPCA(pcl::PCA<PointCloud::PointType> &pca, const PointCloud &pc, const float w, const Eigen::Vector2i &o, const Eigen::Vector2f &d) {
PointCloud tmp;
for(int x=0; x<w; x++) {
Eigen::Vector2i p = o + (d*x).cast<int>();
if(pcl_isfinite(pc(p(0),p(1)).getVector3fMap().sum()))
tmp.push_back( pc(p(0),p(1)) );
}
if(tmp.size()<2) {
ROS_WARN("no valid points");
return false;
}
pca.compute(tmp);
return true;
}
TEST(PCA, copy_constructor)
{
// Test copy constructor
pcl::PCA<pcl::PointXYZ> pca_copy(pca);
try
{
Eigen::Matrix3f eigen_vectors_copy = pca_copy.getEigenVectors ();
Eigen::Matrix3f eigen_vectors = pca.getEigenVectors ();
for(size_t i = 0; i < 3; ++i)
for(size_t j = 0; j < 3; ++j)
EXPECT_EQ (eigen_vectors (i,j), eigen_vectors_copy (i,j));
}
catch (pcl::InitFailedException &e)
{
std::cerr << "something wrong" << std::endl;
}
}
