TEST (PCL, Octree2Buf_Test)
{
// create octree instances
Octree2BufBase<int> octreeA;
Octree2BufBase<int> octreeB;
// set octree depth
octreeA.setTreeDepth (8);
octreeB.setTreeDepth (8);
struct MyVoxel
{
unsigned int x;unsigned int y;unsigned int z;
};
unsigned int i, j;
int data[256];
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]);
}
ASSERT_EQ (256, octreeA.getLeafCount());
int TreeData;
for (i=0; i<128; i++)
{
// retrieve and check data from leaf voxel
octreeA.get(voxels[i].x,voxels[i].y,voxels[i].z, TreeData);
ASSERT_EQ (TreeData, 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);
// check if leafs exist in octrees
for (i=0; i<128; i++)
{
ASSERT_EQ ( octreeB.existLeaf(voxels[i].x,voxels[i].y,voxels[i].z) , true);
}
// these leafs should not exist..
for (i=128; i<256; i++)
{
ASSERT_EQ ( octreeB.existLeaf(voxels[i].x,voxels[i].y,voxels[i].z) , false);
}
// checking deleteTree();
octreeB.deleteTree();
octreeB.setTreeDepth (8);
// octreeB.getLeafCount() should be zero now;
ASSERT_EQ (0,octreeB.getLeafCount());
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);
ASSERT_EQ (octreeA.getLeafCount(),octreeB.getLeafCount());
ASSERT_EQ (128,octreeB.getLeafCount());
octreeB.serializeTree(treeBinaryB, leafVectorB);
// test size and leaf count of reconstructed octree
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, Octree2Buf_Base_Double_Buffering_XOR_Test)
{
#define TESTPOINTS 3000
// create octree instances
Octree2BufBase<int> octreeA;
Octree2BufBase<int> octreeB;
std::vector<char> treeBinaryA;
std::vector<char> treeBinaryB;
std::vector<int> leafVectorA;
std::vector<int> leafVectorB;
octreeA.setTreeDepth (5);
octreeB.setTreeDepth (5);
struct MyVoxel
{
unsigned int x;unsigned int y;unsigned int z;
};
unsigned int i, j;
int data[TESTPOINTS];
MyVoxel voxels[TESTPOINTS];
srand (time (NULL));
const unsigned int test_runs = 15;
for (j = 0; j < test_runs; j++)
{
for (i = 0; i < TESTPOINTS; i++)
{
data[i] = rand ();
voxels[i].x = rand () % 4096;
voxels[i].y = rand () % 4096;
voxels[i].z = rand () % 4096;
// add data to octree
octreeA.add (voxels[i].x, voxels[i].y, voxels[i].z, data[i]);
}
// test serialization - XOR tree binary data
octreeA.serializeTree (treeBinaryA, leafVectorA, true);
octreeB.deserializeTree (treeBinaryA, leafVectorA, true);
octreeB.serializeTree (treeBinaryB, leafVectorB, true);
// check leaf count of rebuilt octree
ASSERT_EQ (octreeA.getLeafCount(),octreeB.getLeafCount());
ASSERT_EQ (leafVectorB.size(), octreeB.getLeafCount());
ASSERT_EQ (leafVectorA.size(), leafVectorB.size());
ASSERT_EQ (treeBinaryA.size(), octreeB.getBranchCount());
ASSERT_EQ (treeBinaryA.size(), treeBinaryB.size());
// check if octree octree structure is consistent.
for (i=0; i<leafVectorB.size(); i++)
{
ASSERT_EQ ( (leafVectorA[i] == leafVectorB[i]), true );
}
// switch buffers
octreeA.switchBuffers();
octreeB.switchBuffers();
}
}
TEST (PCL, Octree2Buf_Base_Double_Buffering_Test)
{
#define TESTPOINTS 3000
// create octree instances
Octree2BufBase<int> octreeA;
Octree2BufBase<int> octreeB;
std::vector<char> treeBinaryA;
std::vector<char> treeBinaryB;
std::vector<int*> leafVectorA;
std::vector<int*> leafVectorB;
octreeA.setTreeDepth (5);
octreeB.setTreeDepth (5);
struct MyVoxel
{
unsigned int x;
unsigned int y;
unsigned int z;
};
unsigned int i, j, k, runs;
int data[TESTPOINTS];
MyVoxel voxels[TESTPOINTS];
srand (static_cast<unsigned int> (time (NULL)));
const unsigned int test_runs = 20;
for (j = 0; j < test_runs; j++)
{
octreeA.deleteTree ();
octreeB.deleteTree ();
octreeA.setTreeDepth (5);
octreeB.setTreeDepth (5);
runs = rand () % 20 + 1;
for (k = 0; k < runs; k++)
{
// switch buffers
octreeA.switchBuffers ();
octreeB.switchBuffers ();
for (i = 0; i < TESTPOINTS; i++)
{
data[i] = rand ();
voxels[i].x = rand () % 4096;
voxels[i].y = rand () % 4096;
voxels[i].z = rand () % 4096;
// add data to octree
int* container = octreeA.createLeaf(voxels[i].x, voxels[i].y, voxels[i].z);
*container = data[i];
}
// test serialization
octreeA.serializeTree (treeBinaryA, leafVectorA, true);
octreeB.deserializeTree (treeBinaryA, leafVectorA, true);
}
octreeB.serializeTree (treeBinaryB, leafVectorB, true);
// check leaf count of rebuilt octree
ASSERT_EQ (octreeA.getLeafCount (), octreeB.getLeafCount ());
ASSERT_EQ (leafVectorB.size (), octreeB.getLeafCount ());
ASSERT_EQ (leafVectorA.size (), leafVectorB.size ());
// check if octree octree structure is consistent.
for (i = 0; i < leafVectorB.size (); i++)
{
ASSERT_EQ (*leafVectorA[i], *leafVectorB[i]);
}
}
}
