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Refactor SHOTEstimation and SHOTColorEstimation tests #2636

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Nov 23, 2018
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Refactor SHOTEstimation and SHOTColorEstimation tests #2636

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303 changes: 73 additions & 230 deletions test/features/test_shot_estimation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -342,8 +342,39 @@ testSHOTLocalReferenceFrame (const typename PointCloud<PointT>::Ptr & points,
checkDesc<OutputT> (output, output2);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, SHOTShapeEstimation)
// "Placeholder" for the type specialized test fixture
template<typename T>
struct SHOTShapeTest;

// Template specialization test for SHOTEstimation
template<>
struct SHOTShapeTest<SHOTEstimation<PointXYZ, Normal, SHOT352> >
: public ::testing::Test
{
SHOTEstimation<PointXYZ, Normal, SHOT352> shot;
};

// Template specialization test for SHOTEstimationOMP
template<>
struct SHOTShapeTest<SHOTEstimationOMP<PointXYZ, Normal, SHOT352> >
: public ::testing::Test
{
// Default Constructor is defined to instantiate 4 threads
SHOTShapeTest<SHOTEstimationOMP<PointXYZ, Normal, SHOT352> > ()
: shot (4)
{}

SHOTEstimationOMP<PointXYZ, Normal, SHOT352> shot;
};

// Types which will be instantiated
typedef ::testing::Types<SHOTEstimation<PointXYZ, Normal, SHOT352>,
SHOTEstimationOMP<PointXYZ, Normal, SHOT352> > SHOTEstimatorTypes;
TYPED_TEST_CASE (SHOTShapeTest, SHOTEstimatorTypes);

// This is a copy of the old SHOTShapeEstimation test which will now
// be applied to both SHOTEstimation and SHOTEstimationOMP
TYPED_TEST (SHOTShapeTest, Estimation)
{
// Estimate normals first
double mr = 0.002;
Expand Down Expand Up @@ -399,7 +430,7 @@ TEST (PCL, SHOTShapeEstimation)
*/

// SHOT352
SHOTEstimation<PointXYZ, Normal, SHOT352> shot352;
TypeParam& shot352 = this->shot;
shot352.setInputNormals (normals);
EXPECT_EQ (shot352.getInputNormals (), normals);
shot352.setRadiusSearch (20 * mr);
Expand Down Expand Up @@ -437,8 +468,8 @@ TEST (PCL, SHOTShapeEstimation)
//testSHOTIndicesAndSearchSurface<SHOTEstimation<PointXYZ, Normal, SHOT>, PointXYZ, Normal, SHOT> (cloud.makeShared (), normals, test_indices);
//testSHOTLocalReferenceFrame<SHOTEstimation<PointXYZ, Normal, SHOT>, PointXYZ, Normal, SHOT> (cloud.makeShared (), normals, test_indices);

testSHOTIndicesAndSearchSurface<SHOTEstimation<PointXYZ, Normal, SHOT352>, PointXYZ, Normal, SHOT352> (cloud.makeShared (), normals, test_indices);
testSHOTLocalReferenceFrame<SHOTEstimation<PointXYZ, Normal, SHOT352>, PointXYZ, Normal, SHOT352> (cloud.makeShared (), normals, test_indices);
testSHOTIndicesAndSearchSurface<TypeParam, PointXYZ, Normal, SHOT352> (cloud.makeShared (), normals, test_indices);
testSHOTLocalReferenceFrame<TypeParam, PointXYZ, Normal, SHOT352> (cloud.makeShared (), normals, test_indices);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Expand Down Expand Up @@ -498,8 +529,40 @@ TEST (PCL, GenericSHOTShapeEstimation)
testSHOTLocalReferenceFrame<SHOTEstimation<PointXYZ, Normal, SHOT>, PointXYZ, Normal, SHOT> (cloud.makeShared (), normals, test_indices, shapeStep_);
}
*/
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, SHOTShapeAndColorEstimation)

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

// Template specialization test for SHOTColorEstimation
template<>
struct SHOTShapeAndColorTest<SHOTColorEstimation<PointXYZRGBA, Normal, SHOT1344> >
: public ::testing::Test
{
SHOTColorEstimation<PointXYZRGBA, Normal, SHOT1344> shot;
};

// Template specialization test for SHOTColorEstimationOMP
template<>
struct SHOTShapeAndColorTest<SHOTColorEstimationOMP<PointXYZRGBA, Normal, SHOT1344> >
: public ::testing::Test
{
// Default Constructor is defined to instantiate 4 threads
SHOTShapeAndColorTest<SHOTColorEstimationOMP<PointXYZRGBA, Normal, SHOT1344> > ()
: shot (true, true, 4)
{}

SHOTColorEstimationOMP<PointXYZRGBA, Normal, SHOT1344> shot;
};

// Types which will be instantiated
typedef ::testing::Types<SHOTColorEstimation<PointXYZRGBA, Normal, SHOT1344>,
SHOTColorEstimationOMP<PointXYZRGBA, Normal, SHOT1344> > SHOTColorEstimatorTypes;
TYPED_TEST_CASE (SHOTShapeAndColorTest, SHOTColorEstimatorTypes);

// This is a copy of the old SHOTShapeAndColorEstimation test which will now
// be applied to both SHOTColorEstimation and SHOTColorEstimationOMP
TYPED_TEST (SHOTShapeAndColorTest, Estimation)
{
double mr = 0.002;
// Estimate normals first
Expand Down Expand Up @@ -572,7 +635,7 @@ TEST (PCL, SHOTShapeAndColorEstimation)
*/

// SHOT1344
SHOTColorEstimation<PointXYZRGBA, Normal, SHOT1344> shot1344 (true, true);
TypeParam& shot1344 = this->shot;
shot1344.setInputNormals (normals);
EXPECT_EQ (shot1344.getInputNormals (), normals);

Expand Down Expand Up @@ -618,228 +681,8 @@ TEST (PCL, SHOTShapeAndColorEstimation)
//testSHOTIndicesAndSearchSurface<SHOTEstimation<PointXYZRGBA, Normal, SHOT>, PointXYZRGBA, Normal, SHOT> (cloudWithColors.makeShared (), normals, test_indices);
//testSHOTLocalReferenceFrame<SHOTEstimation<PointXYZRGBA, Normal, SHOT>, PointXYZRGBA, Normal, SHOT> (cloudWithColors.makeShared (), normals, test_indices);

testSHOTIndicesAndSearchSurface<SHOTColorEstimation<PointXYZRGBA, Normal, SHOT1344>, PointXYZRGBA, Normal, SHOT1344> (cloudWithColors.makeShared (), normals, test_indices);
testSHOTLocalReferenceFrame<SHOTColorEstimation<PointXYZRGBA, Normal, SHOT1344>, PointXYZRGBA, Normal, SHOT1344> (cloudWithColors.makeShared (), normals, test_indices);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, SHOTShapeEstimationOpenMP)
{
// Estimate normals first
double mr = 0.002;
#ifdef _OPENMP
NormalEstimationOMP<PointXYZ, Normal> n (omp_get_max_threads ());
#else
NormalEstimationOMP<PointXYZ, Normal> n;
#endif
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.setRadiusSearch (20 * mr);
n.compute (*normals);

/*
SHOTEstimationOMP<PointXYZ, Normal, SHOT> shot;
shot.setInputNormals (normals);
EXPECT_EQ (shot.getInputNormals (), normals);

shot.setRadiusSearch ( 20 * mr);

// Object
PointCloud<SHOT>::Ptr shots (new PointCloud<SHOT>);

// set parameters
shot.setInputCloud (cloud.makeShared ());
shot.setIndices (indicesptr);
shot.setSearchMethod (tree);

// estimate
shot.compute (*shots);
EXPECT_EQ (shots->points.size (), indices.size ());

EXPECT_NEAR (shots->points[103].descriptor[9 ], 0.0072018504, 1e-4);
EXPECT_NEAR (shots->points[103].descriptor[10], 0.0023103887, 1e-4);
EXPECT_NEAR (shots->points[103].descriptor[11], 0.0024724449, 1e-4);
EXPECT_NEAR (shots->points[103].descriptor[19], 0.0031367359, 1e-4);
EXPECT_NEAR (shots->points[103].descriptor[20], 0.17439659, 1e-4);
EXPECT_NEAR (shots->points[103].descriptor[21], 0.070665278, 1e-4);
EXPECT_NEAR (shots->points[103].descriptor[42], 0.013304681, 1e-4);
EXPECT_NEAR (shots->points[103].descriptor[53], 0.0073520984, 1e-4);
EXPECT_NEAR (shots->points[103].descriptor[54], 0.013584172, 1e-4);
EXPECT_NEAR (shots->points[103].descriptor[55], 0.0050609680, 1e-4);
*/

// SHOT352
SHOTEstimationOMP<PointXYZ, Normal, SHOT352> shot352;
shot352.setInputNormals (normals);
EXPECT_EQ (shot352.getInputNormals (), normals);

shot352.setRadiusSearch ( 20 * mr);

// Object
PointCloud<SHOT352>::Ptr shots352 (new PointCloud<SHOT352>);

// set parameters
shot352.setInputCloud (cloud.makeShared ());
shot352.setIndices (indicesptr);
shot352.setSearchMethod (tree);

// estimate
shot352.compute (*shots352);
EXPECT_EQ (shots352->points.size (), indices.size ());

EXPECT_NEAR (shots352->points[103].descriptor[9 ], 0.0072018504, 1e-4);
EXPECT_NEAR (shots352->points[103].descriptor[10], 0.0023103887, 1e-4);
EXPECT_NEAR (shots352->points[103].descriptor[11], 0.0024724449, 1e-4);
EXPECT_NEAR (shots352->points[103].descriptor[19], 0.0031367359, 1e-4);
EXPECT_NEAR (shots352->points[103].descriptor[20], 0.17439659, 1e-4);
EXPECT_NEAR (shots352->points[103].descriptor[21], 0.06542316, 1e-4);
EXPECT_NEAR (shots352->points[103].descriptor[42], 0.013304681, 1e-4);
EXPECT_NEAR (shots352->points[103].descriptor[53], 0.0073520984, 1e-4);
EXPECT_NEAR (shots352->points[103].descriptor[54], 0.013584172, 1e-4);
EXPECT_NEAR (shots352->points[103].descriptor[55], 0.0050609680, 1e-4);

// 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));

//testSHOTIndicesAndSearchSurface<SHOTEstimationOMP<PointXYZ, Normal, SHOT>, PointXYZ, Normal, SHOT> (cloud.makeShared (), normals, test_indices);
//testSHOTLocalReferenceFrame<SHOTEstimationOMP<PointXYZ, Normal, SHOT>, PointXYZ, Normal, SHOT> (cloud.makeShared (), normals, test_indices);

testSHOTIndicesAndSearchSurface<SHOTEstimationOMP<PointXYZ, Normal, SHOT352>, PointXYZ, Normal, SHOT352> (cloud.makeShared (), normals, test_indices);
testSHOTLocalReferenceFrame<SHOTEstimationOMP<PointXYZ, Normal, SHOT352>, PointXYZ, Normal, SHOT352> (cloud.makeShared (), normals, test_indices);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL,SHOTShapeAndColorEstimationOpenMP)
{
double mr = 0.002;
// 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.setRadiusSearch (20 * mr);
n.compute (*normals);

search::KdTree<PointXYZRGBA>::Ptr rgbaTree;

rgbaTree.reset (new search::KdTree<PointXYZRGBA> (false));

// Create fake point cloud with colors
PointCloud<PointXYZRGBA> cloudWithColors;
for (int i = 0; i < static_cast<int> (cloud.points.size ()); ++i)
{
PointXYZRGBA p;
p.x = cloud.points[i].x;
p.y = cloud.points[i].y;
p.z = cloud.points[i].z;

p.rgba = ( (i%255) << 16 ) + ( ( (255 - i ) %255) << 8) + ( ( i*37 ) %255);
cloudWithColors.push_back(p);
}

/*
// Object
SHOTEstimationOMP<PointXYZRGBA, Normal, SHOT> shot (true, true, -1);
shot.setInputNormals (normals);

EXPECT_EQ (shot.getInputNormals (), normals);

shot.setRadiusSearch ( 20 * mr);

rgbaTree->setInputCloud (cloudWithColors.makeShared ());

PointCloud<SHOT>::Ptr shots (new PointCloud<SHOT> ());

shot.setInputCloud (cloudWithColors.makeShared ());
shot.setIndices (indicesptr);
shot.setSearchMethod (rgbaTree);

// estimate
shot.compute (*shots);
EXPECT_EQ (shots->points.size (), indices.size ());

EXPECT_NEAR (shots->points[103].descriptor[10], 0.0020453099, 1e-5);
EXPECT_NEAR (shots->points[103].descriptor[11], 0.0021887729, 1e-5);
EXPECT_NEAR (shots->points[103].descriptor[21], 0.062557608, 1e-5);
EXPECT_NEAR (shots->points[103].descriptor[42], 0.011778189, 1e-5);
EXPECT_NEAR (shots->points[103].descriptor[53], 0.0065085669, 1e-5);
EXPECT_NEAR (shots->points[103].descriptor[54], 0.012025614, 1e-5);
EXPECT_NEAR (shots->points[103].descriptor[55], 0.0044803056, 1e-5);
EXPECT_NEAR (shots->points[103].descriptor[64], 0.064429596, 1e-5);
EXPECT_NEAR (shots->points[103].descriptor[65], 0.046486385, 1e-5);
EXPECT_NEAR (shots->points[103].descriptor[86], 0.011518310, 1e-5);

EXPECT_NEAR (shots->points[103].descriptor[357], 0.0020453099, 1e-5);
EXPECT_NEAR (shots->points[103].descriptor[360], 0.0027993850, 1e-5);
EXPECT_NEAR (shots->points[103].descriptor[386], 0.045115642, 1e-5);
EXPECT_NEAR (shots->points[103].descriptor[387], 0.059068538, 1e-5);
EXPECT_NEAR (shots->points[103].descriptor[389], 0.0047547864, 1e-5);
EXPECT_NEAR (shots->points[103].descriptor[453], 0.0051176427, 1e-5);
EXPECT_NEAR (shots->points[103].descriptor[481], 0.0053625242, 1e-5);
EXPECT_NEAR (shots->points[103].descriptor[482], 0.012025614, 1e-5);
EXPECT_NEAR (shots->points[103].descriptor[511], 0.0057367259, 1e-5);
EXPECT_NEAR (shots->points[103].descriptor[512], 0.048357654, 1e-5);
*/

// SHOT1344
SHOTColorEstimationOMP<PointXYZRGBA, Normal, SHOT1344> shot1344 (true, true);
shot1344.setInputNormals (normals);

EXPECT_EQ (shot1344.getInputNormals (), normals);

shot1344.setRadiusSearch ( 20 * mr);

PointCloud<SHOT1344>::Ptr shots1344 (new PointCloud<SHOT1344> ());

shot1344.setInputCloud (cloudWithColors.makeShared ());
shot1344.setIndices (indicesptr);
shot1344.setSearchMethod (rgbaTree);

// estimate
shot1344.compute (*shots1344);
EXPECT_EQ (shots1344->points.size (), indices.size ());

EXPECT_NEAR (shots1344->points[103].descriptor[10], 0.0020453099, 1e-5);
EXPECT_NEAR (shots1344->points[103].descriptor[11], 0.0021887729, 1e-5);
EXPECT_NEAR (shots1344->points[103].descriptor[21], 0.057930067, 1e-5);
EXPECT_NEAR (shots1344->points[103].descriptor[42], 0.011778189, 1e-5);
EXPECT_NEAR (shots1344->points[103].descriptor[53], 0.0065085669, 1e-5);
EXPECT_NEAR (shots1344->points[103].descriptor[54], 0.012025614, 1e-5);
EXPECT_NEAR (shots1344->points[103].descriptor[55], 0.0044803056, 1e-5);
EXPECT_NEAR (shots1344->points[103].descriptor[64], 0.0644530654, 1e-5);
EXPECT_NEAR (shots1344->points[103].descriptor[65], 0.0465045683, 1e-5);
EXPECT_NEAR (shots1344->points[103].descriptor[86], 0.011518310, 1e-5);

EXPECT_NEAR (shots1344->points[103].descriptor[357], 0.0020453099, 1e-5);
EXPECT_NEAR (shots1344->points[103].descriptor[360], 0.0027993850, 1e-5);
EXPECT_NEAR (shots1344->points[103].descriptor[386], 0.0451327376, 1e-5);
EXPECT_NEAR (shots1344->points[103].descriptor[387], 0.0544394031, 1e-5);
EXPECT_NEAR (shots1344->points[103].descriptor[389], 0.0047547864, 1e-5);
EXPECT_NEAR (shots1344->points[103].descriptor[453], 0.0051176427, 1e-5);
EXPECT_NEAR (shots1344->points[103].descriptor[481], 0.0053625242, 1e-5);
EXPECT_NEAR (shots1344->points[103].descriptor[482], 0.012025614, 1e-5);
EXPECT_NEAR (shots1344->points[103].descriptor[511], 0.0057367259, 1e-5);
EXPECT_NEAR (shots1344->points[103].descriptor[512], 0.048375979, 1e-5);

// 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));

//testSHOTIndicesAndSearchSurface<SHOTEstimationOMP<PointXYZRGBA, Normal, SHOT>, PointXYZRGBA, Normal, SHOT> (cloudWithColors.makeShared (), normals, test_indices);
//testSHOTLocalReferenceFrame<SHOTEstimationOMP<PointXYZRGBA, Normal, SHOT>, PointXYZRGBA, Normal, SHOT> (cloudWithColors.makeShared (), normals, test_indices);

testSHOTIndicesAndSearchSurface<SHOTColorEstimationOMP<PointXYZRGBA, Normal, SHOT1344>, PointXYZRGBA, Normal, SHOT1344> (cloudWithColors.makeShared (), normals, test_indices);
testSHOTLocalReferenceFrame<SHOTColorEstimationOMP<PointXYZRGBA, Normal, SHOT1344>, PointXYZRGBA, Normal, SHOT1344> (cloudWithColors.makeShared (), normals, test_indices);
testSHOTIndicesAndSearchSurface<TypeParam, PointXYZRGBA, Normal, SHOT1344> (cloudWithColors.makeShared (), normals, test_indices);
testSHOTLocalReferenceFrame<TypeParam, PointXYZRGBA, Normal, SHOT1344> (cloudWithColors.makeShared (), normals, test_indices);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Expand Down