TEST (PCL, GFPFH)
{
PointCloud<PointXYZL>::Ptr cloud (new PointCloud<PointXYZL>());
const unsigned num_classes = 3;
// Build a cubic shape with a hole and changing labels.
for (int z = -10; z < 10; ++z)
for (int y = -10; y < 10; ++y)
for (int x = -10; x < 10; ++x)
{
if (x >= -9 && x < 9 && y >= -9 && y < 9 && z >= -9 && z < 9)
continue;
unsigned label = 1 + (std::abs (x+y+z) % num_classes);
PointXYZL p;
p.label = label;
p.x = static_cast<float> (x);
p.y = static_cast<float> (y);
p.z = static_cast<float> (z);
cloud->points.push_back (p);
}
cloud->width = static_cast<uint32_t> (cloud->points.size ());
cloud->height = 1;
GFPFHEstimation<PointXYZL, PointXYZL, GFPFHSignature16> gfpfh;
gfpfh.setNumberOfClasses (num_classes);
gfpfh.setOctreeLeafSize (2);
gfpfh.setInputCloud (cloud);
gfpfh.setInputLabels (cloud);
PointCloud<GFPFHSignature16> descriptor;
gfpfh.compute (descriptor);
const float ref_values[] = { 1877, 6375, 5361, 14393, 6674, 2471, 2248, 2753, 3117, 4585, 14388, 32407, 15122, 3061, 3202, 794 };
EXPECT_EQ (descriptor.points.size (), 1);
for (size_t i = 0; i < size_t (descriptor.points[0].descriptorSize ()); ++i)
{
EXPECT_EQ (descriptor.points[0].histogram[i], ref_values[i]);
}
}
TEST (PCL, GFPFH)
{
PointCloud<PointXYZL>::Ptr cloud (new PointCloud<PointXYZL>());
const unsigned num_classes = 3;
// Build a cubic shape with a hole and changing labels.
for (int z = -10; z < 10; ++z)
for (int y = -10; y < 10; ++y)
for (int x = -10; x < 10; ++x)
{
if (x >= -9 && x < 9 && y >= -9 && y < 9 && z >= -9 && z < 9)
continue;
unsigned label = 1 + (std::abs (x+y+z) % num_classes);
PointXYZL p;
p.label = label;
p.x = static_cast<float> (x);
p.y = static_cast<float> (y);
p.z = static_cast<float> (z);
cloud->points.push_back (p);
}
cloud->width = static_cast<uint32_t> (cloud->points.size ());
cloud->height = 1;
GFPFHEstimation<PointXYZL, PointXYZL, GFPFHSignature16> gfpfh;
gfpfh.setNumberOfClasses (num_classes);
gfpfh.setOctreeLeafSize (2);
gfpfh.setInputCloud (cloud);
gfpfh.setInputLabels (cloud);
PointCloud<GFPFHSignature16> descriptor;
gfpfh.compute (descriptor);
const float ref_values[] = { 3216, 7760, 8740, 26584, 4645, 2995, 3029, 4349, 6192, 5440, 9514, 47563, 21814, 22073, 5734, 1253 };
EXPECT_EQ (descriptor.points.size (), 1);
for (size_t i = 0; i < size_t (descriptor.points[0].descriptorSize ()); ++i)
{
EXPECT_EQ (descriptor.points[0].histogram[i], ref_values[i]);
}
}
