C++ (Cpp) OctreePointCloud::getTreeDepthの例

コード例 #1

ファイル: test_octree.cpp プロジェクト: hobu/pcl

TEST (PCL, Octree_Pointcloud_Bounds)
{
    const double SOME_RESOLUTION (10 + 1/3.0);
    const int SOME_DEPTH (4);
    const double DESIRED_MAX = ((1<<SOME_DEPTH) + 0.5)*SOME_RESOLUTION;
    const double DESIRED_MIN = 0;

    OctreePointCloud<PointXYZ> tree (SOME_RESOLUTION);
    tree.defineBoundingBox (DESIRED_MIN, DESIRED_MIN, DESIRED_MIN, DESIRED_MAX, DESIRED_MAX, DESIRED_MAX);

    double min_x, min_y, min_z, max_x, max_y, max_z;
    tree.getBoundingBox (min_x, min_y, min_z, max_x, max_y, max_z);

    ASSERT_GE (max_x, DESIRED_MAX);
    ASSERT_GE (DESIRED_MIN, min_x);

    const double LARGE_MIN = 1e7-45*SOME_RESOLUTION;
    const double LARGE_MAX = 1e7-5*SOME_RESOLUTION;
    tree.defineBoundingBox (LARGE_MIN, LARGE_MIN, LARGE_MIN, LARGE_MAX, LARGE_MAX, LARGE_MAX);
    tree.getBoundingBox (min_x, min_y, min_z, max_x, max_y, max_z);
    const unsigned int depth = tree.getTreeDepth ();
    tree.defineBoundingBox (min_x, min_y, min_z, max_x, max_y, max_z);

    ASSERT_EQ (depth, tree.getTreeDepth ());

    double min_x2, min_y2, min_z2, max_x2, max_y2, max_z2;
    tree.getBoundingBox (min_x2, min_y2, min_z2, max_x2, max_y2, max_z2);

    ASSERT_DOUBLE_EQ (min_x2, min_x);
    ASSERT_DOUBLE_EQ (max_x2, max_x);
}