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Refactor FPFHEstimation and FPFHEstimationOMP tests.
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Ensure they're submitted to the same test conditions.
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@SergioRAgostinho
SergioRAgostinho committed Oct 10, 2018
1 parent 5364115 commit 2bf4ae0
Showing 1 changed file with 40 additions and 81 deletions.
121 changes: 40 additions & 81 deletions test/features/test_pfh_estimation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -263,7 +263,40 @@ TEST (PCL, PFHEstimation)
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, FPFHEstimation)

// "Placeholder" for the type specialized test fixture
template<typename T>
struct FPFHTest;

// Template specialization test for FPFHEstimation
template<>
struct FPFHTest<FPFHEstimation<PointXYZ, Normal, FPFHSignature33> >
: public ::testing::Test
{
FPFHEstimation<PointXYZ, Normal, FPFHSignature33> fpfh;
};

// Template specialization test for FPFHEstimationOMP
template<>
struct FPFHTest<FPFHEstimationOMP<PointXYZ, Normal, FPFHSignature33> >
: public ::testing::Test
{
// Default Constructor is defined to instantiate 4 threads
FPFHTest<FPFHEstimationOMP<PointXYZ, Normal, FPFHSignature33> > ()
: fpfh (4)
{}

FPFHEstimationOMP<PointXYZ, Normal, FPFHSignature33> fpfh;
};

// Types which will be instantiated
typedef ::testing::Types<FPFHEstimation<PointXYZ, Normal, FPFHSignature33>,
FPFHEstimationOMP<PointXYZ, Normal, FPFHSignature33> > FPFHEstimatorTypes;
TYPED_TEST_CASE (FPFHTest, FPFHEstimatorTypes);

// This is a copy of the old FPFHEstimation test which will now
// be applied to both FPFHEstimation and FPFHEstimationOMP
TYPED_TEST (FPFHTest, Estimation)
{
// Estimate normals first
NormalEstimation<PointXYZ, Normal> n;
Expand All @@ -277,7 +310,8 @@ TEST (PCL, FPFHEstimation)
// estimate
n.compute (*normals);

FPFHEstimation<PointXYZ, Normal, FPFHSignature33> fpfh;
// Create reference
TypeParam& fpfh = this->fpfh;
fpfh.setInputNormals (normals);
EXPECT_EQ (fpfh.getInputNormals (), normals);

Expand Down Expand Up @@ -349,8 +383,8 @@ TEST (PCL, FPFHEstimation)
EXPECT_NEAR (fpfh_histogram[15], 16.8062, 1e-2);
EXPECT_NEAR (fpfh_histogram[16], 16.2767, 1e-2);
EXPECT_NEAR (fpfh_histogram[17], 12.251 , 1e-2);
//EXPECT_NEAR (fpfh_histogram[18], 10.354, 1e-1);
//EXPECT_NEAR (fpfh_histogram[19], 6.65578, 1e-2);
EXPECT_NEAR (fpfh_histogram[18], 10.354, 1e-2);
EXPECT_NEAR (fpfh_histogram[19], 6.65578, 1e-2);
EXPECT_NEAR (fpfh_histogram[20], 6.1437 , 1e-2);
EXPECT_NEAR (fpfh_histogram[21], 5.83341, 1e-2);
EXPECT_NEAR (fpfh_histogram[22], 1.08809, 1e-2);
Expand Down Expand Up @@ -397,8 +431,8 @@ TEST (PCL, FPFHEstimation)
EXPECT_NEAR (fpfhs->points[0].histogram[15], 17.963 , 1e-2);
EXPECT_NEAR (fpfhs->points[0].histogram[16], 18.2801, 1e-2);
EXPECT_NEAR (fpfhs->points[0].histogram[17], 14.2766, 1e-2);
//EXPECT_NEAR (fpfhs->points[0].histogram[18], 10.8542, 1e-2);
//EXPECT_NEAR (fpfhs->points[0].histogram[19], 6.07925, 1e-2);
EXPECT_NEAR (fpfhs->points[0].histogram[18], 10.8542, 1e-2);
EXPECT_NEAR (fpfhs->points[0].histogram[19], 6.07925, 1e-2);
EXPECT_NEAR (fpfhs->points[0].histogram[20], 5.28565, 1e-2);
EXPECT_NEAR (fpfhs->points[0].histogram[21], 4.73887, 1e-2);
EXPECT_NEAR (fpfhs->points[0].histogram[22], 0.56984, 1e-2);
Expand All @@ -421,83 +455,8 @@ TEST (PCL, FPFHEstimation)

testIndicesAndSearchSurface<FPFHEstimation<PointXYZ, Normal, FPFHSignature33>, PointXYZ, Normal, FPFHSignature33>
(cloud.makeShared (), normals, test_indices, 33);

}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, FPFHEstimationOpenMP)
{
// Estimate normals first
NormalEstimation<PointXYZ, Normal> n;
PointCloud<Normal>::Ptr normals (new PointCloud<Normal> ());
// set parameters
n.setInputCloud (cloud.makeShared ());
boost::shared_ptr<vector<int> > indicesptr (new vector<int> (indices));
n.setIndices (indicesptr);
n.setSearchMethod (tree);
n.setKSearch (10); // Use 10 nearest neighbors to estimate the normals
// estimate
n.compute (*normals);
FPFHEstimationOMP<PointXYZ, Normal, FPFHSignature33> fpfh (4); // instantiate 4 threads
fpfh.setInputNormals (normals);

// Object
PointCloud<FPFHSignature33>::Ptr fpfhs (new PointCloud<FPFHSignature33> ());

// set parameters
fpfh.setInputCloud (cloud.makeShared ());
fpfh.setNrSubdivisions (11, 11, 11);
fpfh.setIndices (indicesptr);
fpfh.setSearchMethod (tree);
fpfh.setKSearch (static_cast<int> (indices.size ()));

// estimate
fpfh.compute (*fpfhs);
EXPECT_EQ (fpfhs->points.size (), indices.size ());

EXPECT_NEAR (fpfhs->points[0].histogram[0], 1.58591, 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[1], 1.68365, 1e-2);
EXPECT_NEAR (fpfhs->points[0].histogram[2], 6.71 , 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[3], 23.073, 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[4], 33.3828, 1e-2);
EXPECT_NEAR (fpfhs->points[0].histogram[5], 20.4002, 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[6], 7.31067, 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[7], 1.02635, 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[8], 0.48591, 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[9], 1.47069, 1e-2);
EXPECT_NEAR (fpfhs->points[0].histogram[10], 2.87061, 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[11], 1.78321, 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[12], 4.30795, 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[13], 7.05514, 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[14], 9.37615, 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[15], 17.963 , 1e-3);
//EXPECT_NEAR (fpfhs->points[0].histogram[16], 18.2801, 1e-3);
//EXPECT_NEAR (fpfhs->points[0].histogram[17], 14.2766, 1e-3);
//EXPECT_NEAR (fpfhs->points[0].histogram[18], 10.8542, 1e-3);
//EXPECT_NEAR (fpfhs->points[0].histogram[19], 6.07925, 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[20], 5.28991, 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[21], 4.73438, 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[22], 0.56984, 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[23], 3.29826, 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[24], 5.28156, 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[25], 5.26939, 1e-2);
EXPECT_NEAR (fpfhs->points[0].histogram[26], 3.13191, 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[27], 1.74453, 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[28], 9.41971, 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[29], 21.5894, 1e-2);
EXPECT_NEAR (fpfhs->points[0].histogram[30], 24.6302, 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[31], 17.7764, 1e-3);
EXPECT_NEAR (fpfhs->points[0].histogram[32], 7.28878, 1e-3);

// Test results when setIndices and/or setSearchSurface are used

boost::shared_ptr<vector<int> > test_indices (new vector<int> (0));
for (size_t i = 0; i < cloud.size (); i+=3)
test_indices->push_back (static_cast<int> (i));

testIndicesAndSearchSurface<FPFHEstimationOMP<PointXYZ, Normal, FPFHSignature33>, PointXYZ, Normal, FPFHSignature33>
(cloud.makeShared (), normals, test_indices, 33);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, VFHEstimation)
Expand Down

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