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);
}
}
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;
}
}