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SergioRAgostinhoSergioRAgostinho
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Refactor FPFHEstimation and FPFHEstimationOMP tests.
Ensure they're submitted to the same test conditions.
1 parent 5364115 commit 2bf4ae0

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Lines changed: 40 additions & 81 deletions

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‎test/features/test_pfh_estimation.cpp‎

Lines changed: 40 additions & 81 deletions
Original file line numberDiff line numberDiff line change
@@ -263,7 +263,40 @@ TEST (PCL, PFHEstimation)
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}
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
266-
TEST (PCL, FPFHEstimation)
266+
267+
// "Placeholder" for the type specialized test fixture
268+
template<typename T>
269+
struct FPFHTest;
270+
271+
// Template specialization test for FPFHEstimation
272+
template<>
273+
struct FPFHTest<FPFHEstimation<PointXYZ, Normal, FPFHSignature33> >
274+
: public ::testing::Test
275+
{
276+
FPFHEstimation<PointXYZ, Normal, FPFHSignature33> fpfh;
277+
};
278+
279+
// Template specialization test for FPFHEstimationOMP
280+
template<>
281+
struct FPFHTest<FPFHEstimationOMP<PointXYZ, Normal, FPFHSignature33> >
282+
: public ::testing::Test
283+
{
284+
// Default Constructor is defined to instantiate 4 threads
285+
FPFHTest<FPFHEstimationOMP<PointXYZ, Normal, FPFHSignature33> > ()
286+
: fpfh (4)
287+
{}
288+
289+
FPFHEstimationOMP<PointXYZ, Normal, FPFHSignature33> fpfh;
290+
};
291+
292+
// Types which will be instantiated
293+
typedef ::testing::Types<FPFHEstimation<PointXYZ, Normal, FPFHSignature33>,
294+
FPFHEstimationOMP<PointXYZ, Normal, FPFHSignature33> > FPFHEstimatorTypes;
295+
TYPED_TEST_CASE (FPFHTest, FPFHEstimatorTypes);
296+
297+
// This is a copy of the old FPFHEstimation test which will now
298+
// be applied to both FPFHEstimation and FPFHEstimationOMP
299+
TYPED_TEST (FPFHTest, Estimation)
267300
{
268301
// Estimate normals first
269302
NormalEstimation<PointXYZ, Normal> n;
@@ -277,7 +310,8 @@ TEST (PCL, FPFHEstimation)
277310
// estimate
278311
n.compute (*normals);
279312

280-
FPFHEstimation<PointXYZ, Normal, FPFHSignature33> fpfh;
313+
// Create reference
314+
TypeParam& fpfh = this->fpfh;
281315
fpfh.setInputNormals (normals);
282316
EXPECT_EQ (fpfh.getInputNormals (), normals);
283317

@@ -349,8 +383,8 @@ TEST (PCL, FPFHEstimation)
349383
EXPECT_NEAR (fpfh_histogram[15], 16.8062, 1e-2);
350384
EXPECT_NEAR (fpfh_histogram[16], 16.2767, 1e-2);
351385
EXPECT_NEAR (fpfh_histogram[17], 12.251 , 1e-2);
352-
//EXPECT_NEAR (fpfh_histogram[18], 10.354, 1e-1);
353-
//EXPECT_NEAR (fpfh_histogram[19], 6.65578, 1e-2);
386+
EXPECT_NEAR (fpfh_histogram[18], 10.354, 1e-2);
387+
EXPECT_NEAR (fpfh_histogram[19], 6.65578, 1e-2);
354388
EXPECT_NEAR (fpfh_histogram[20], 6.1437 , 1e-2);
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EXPECT_NEAR (fpfh_histogram[21], 5.83341, 1e-2);
356390
EXPECT_NEAR (fpfh_histogram[22], 1.08809, 1e-2);
@@ -397,8 +431,8 @@ TEST (PCL, FPFHEstimation)
397431
EXPECT_NEAR (fpfhs->points[0].histogram[15], 17.963 , 1e-2);
398432
EXPECT_NEAR (fpfhs->points[0].histogram[16], 18.2801, 1e-2);
399433
EXPECT_NEAR (fpfhs->points[0].histogram[17], 14.2766, 1e-2);
400-
//EXPECT_NEAR (fpfhs->points[0].histogram[18], 10.8542, 1e-2);
401-
//EXPECT_NEAR (fpfhs->points[0].histogram[19], 6.07925, 1e-2);
434+
EXPECT_NEAR (fpfhs->points[0].histogram[18], 10.8542, 1e-2);
435+
EXPECT_NEAR (fpfhs->points[0].histogram[19], 6.07925, 1e-2);
402436
EXPECT_NEAR (fpfhs->points[0].histogram[20], 5.28565, 1e-2);
403437
EXPECT_NEAR (fpfhs->points[0].histogram[21], 4.73887, 1e-2);
404438
EXPECT_NEAR (fpfhs->points[0].histogram[22], 0.56984, 1e-2);
@@ -421,83 +455,8 @@ TEST (PCL, FPFHEstimation)
421455

422456
testIndicesAndSearchSurface<FPFHEstimation<PointXYZ, Normal, FPFHSignature33>, PointXYZ, Normal, FPFHSignature33>
423457
(cloud.makeShared (), normals, test_indices, 33);
424-
425458
}
426459

427-
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
428-
TEST (PCL, FPFHEstimationOpenMP)
429-
{
430-
// Estimate normals first
431-
NormalEstimation<PointXYZ, Normal> n;
432-
PointCloud<Normal>::Ptr normals (new PointCloud<Normal> ());
433-
// set parameters
434-
n.setInputCloud (cloud.makeShared ());
435-
boost::shared_ptr<vector<int> > indicesptr (new vector<int> (indices));
436-
n.setIndices (indicesptr);
437-
n.setSearchMethod (tree);
438-
n.setKSearch (10); // Use 10 nearest neighbors to estimate the normals
439-
// estimate
440-
n.compute (*normals);
441-
FPFHEstimationOMP<PointXYZ, Normal, FPFHSignature33> fpfh (4); // instantiate 4 threads
442-
fpfh.setInputNormals (normals);
443-
444-
// Object
445-
PointCloud<FPFHSignature33>::Ptr fpfhs (new PointCloud<FPFHSignature33> ());
446-
447-
// set parameters
448-
fpfh.setInputCloud (cloud.makeShared ());
449-
fpfh.setNrSubdivisions (11, 11, 11);
450-
fpfh.setIndices (indicesptr);
451-
fpfh.setSearchMethod (tree);
452-
fpfh.setKSearch (static_cast<int> (indices.size ()));
453-
454-
// estimate
455-
fpfh.compute (*fpfhs);
456-
EXPECT_EQ (fpfhs->points.size (), indices.size ());
457-
458-
EXPECT_NEAR (fpfhs->points[0].histogram[0], 1.58591, 1e-3);
459-
EXPECT_NEAR (fpfhs->points[0].histogram[1], 1.68365, 1e-2);
460-
EXPECT_NEAR (fpfhs->points[0].histogram[2], 6.71 , 1e-3);
461-
EXPECT_NEAR (fpfhs->points[0].histogram[3], 23.073, 1e-3);
462-
EXPECT_NEAR (fpfhs->points[0].histogram[4], 33.3828, 1e-2);
463-
EXPECT_NEAR (fpfhs->points[0].histogram[5], 20.4002, 1e-3);
464-
EXPECT_NEAR (fpfhs->points[0].histogram[6], 7.31067, 1e-3);
465-
EXPECT_NEAR (fpfhs->points[0].histogram[7], 1.02635, 1e-3);
466-
EXPECT_NEAR (fpfhs->points[0].histogram[8], 0.48591, 1e-3);
467-
EXPECT_NEAR (fpfhs->points[0].histogram[9], 1.47069, 1e-2);
468-
EXPECT_NEAR (fpfhs->points[0].histogram[10], 2.87061, 1e-3);
469-
EXPECT_NEAR (fpfhs->points[0].histogram[11], 1.78321, 1e-3);
470-
EXPECT_NEAR (fpfhs->points[0].histogram[12], 4.30795, 1e-3);
471-
EXPECT_NEAR (fpfhs->points[0].histogram[13], 7.05514, 1e-3);
472-
EXPECT_NEAR (fpfhs->points[0].histogram[14], 9.37615, 1e-3);
473-
EXPECT_NEAR (fpfhs->points[0].histogram[15], 17.963 , 1e-3);
474-
//EXPECT_NEAR (fpfhs->points[0].histogram[16], 18.2801, 1e-3);
475-
//EXPECT_NEAR (fpfhs->points[0].histogram[17], 14.2766, 1e-3);
476-
//EXPECT_NEAR (fpfhs->points[0].histogram[18], 10.8542, 1e-3);
477-
//EXPECT_NEAR (fpfhs->points[0].histogram[19], 6.07925, 1e-3);
478-
EXPECT_NEAR (fpfhs->points[0].histogram[20], 5.28991, 1e-3);
479-
EXPECT_NEAR (fpfhs->points[0].histogram[21], 4.73438, 1e-3);
480-
EXPECT_NEAR (fpfhs->points[0].histogram[22], 0.56984, 1e-3);
481-
EXPECT_NEAR (fpfhs->points[0].histogram[23], 3.29826, 1e-3);
482-
EXPECT_NEAR (fpfhs->points[0].histogram[24], 5.28156, 1e-3);
483-
EXPECT_NEAR (fpfhs->points[0].histogram[25], 5.26939, 1e-2);
484-
EXPECT_NEAR (fpfhs->points[0].histogram[26], 3.13191, 1e-3);
485-
EXPECT_NEAR (fpfhs->points[0].histogram[27], 1.74453, 1e-3);
486-
EXPECT_NEAR (fpfhs->points[0].histogram[28], 9.41971, 1e-3);
487-
EXPECT_NEAR (fpfhs->points[0].histogram[29], 21.5894, 1e-2);
488-
EXPECT_NEAR (fpfhs->points[0].histogram[30], 24.6302, 1e-3);
489-
EXPECT_NEAR (fpfhs->points[0].histogram[31], 17.7764, 1e-3);
490-
EXPECT_NEAR (fpfhs->points[0].histogram[32], 7.28878, 1e-3);
491-
492-
// Test results when setIndices and/or setSearchSurface are used
493-
494-
boost::shared_ptr<vector<int> > test_indices (new vector<int> (0));
495-
for (size_t i = 0; i < cloud.size (); i+=3)
496-
test_indices->push_back (static_cast<int> (i));
497-
498-
testIndicesAndSearchSurface<FPFHEstimationOMP<PointXYZ, Normal, FPFHSignature33>, PointXYZ, Normal, FPFHSignature33>
499-
(cloud.makeShared (), normals, test_indices, 33);
500-
}
501460

502461
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
503462
TEST (PCL, VFHEstimation)

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