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SergioRAgostinhoSergioRAgostinho
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Add unit tests validating is_dense inference by PLYReader
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Lines changed: 487 additions & 234 deletions

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‎test/io/CMakeLists.txt‎

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@@ -25,6 +25,11 @@ if (build)
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FILES test_grabbers.cpp
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LINK_WITH pcl_gtest pcl_io
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ARGUMENTS "${PCL_SOURCE_DIR}/test/grabber_sequences")
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PCL_ADD_TEST(io_ply_io test_ply_io
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FILES test_ply_io.cpp
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LINK_WITH pcl_gtest pcl_io)
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# Uses VTK readers to verify
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if (VTK_FOUND AND NOT ANDROID)
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include_directories(${VTK_INCLUDE_DIRS})

‎test/io/test_io.cpp‎

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@@ -808,240 +808,6 @@ TEST (PCL, ASCIIReader)
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}
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811-
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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TEST (PCL, PLYReaderWriter)
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{
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pcl::PCLPointCloud2 cloud_blob, cloud_blob2;
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PointCloud<PointXYZI> cloud, cloud2;
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cloud.width = 640;
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cloud.height = 480;
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cloud.resize (cloud.width * cloud.height);
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cloud.is_dense = true;
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822-
srand (static_cast<unsigned int> (time (NULL)));
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size_t nr_p = cloud.size ();
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// Randomly create a new point cloud
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for (size_t i = 0; i < nr_p; ++i)
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{
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cloud[i].x = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
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cloud[i].y = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
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cloud[i].z = static_cast<float> (1024 * rand () / (RAND_MAX + 1.0));
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cloud[i].intensity = static_cast<float> (i);
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}
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// Convert from data type to blob
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toPCLPointCloud2 (cloud, cloud_blob);
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EXPECT_EQ (cloud_blob.width, cloud.width); // test for toPCLPointCloud2 ()
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EXPECT_EQ (cloud_blob.height, cloud.height); // test for toPCLPointCloud2 ()
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EXPECT_EQ (cloud_blob.is_dense, cloud.is_dense); // test for toPCLPointCloud2 ()
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EXPECT_EQ (cloud_blob.data.size (),
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cloud_blob.width * cloud_blob.height * sizeof (PointXYZI));
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// test for toPCLPointCloud2 ()
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PLYWriter writer;
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writer.write ("test_pcl_io.ply", cloud_blob, Eigen::Vector4f::Zero (), Eigen::Quaternionf::Identity (), true, true);
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PLYReader reader;
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reader.read ("test_pcl_io.ply", cloud_blob2);
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//PLY DOES preserve organiziation
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EXPECT_EQ (cloud_blob.width * cloud_blob.height, cloud_blob2.width * cloud_blob2.height);
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EXPECT_EQ (cloud_blob.is_dense, cloud.is_dense);
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EXPECT_EQ (size_t (cloud_blob2.data.size ()), // PointXYZI is 16*2 (XYZ+1, Intensity+3)
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cloud_blob2.width * cloud_blob2.height * sizeof (PointXYZ)); // test for loadPLYFile ()
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// Convert from blob to data type
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fromPCLPointCloud2 (cloud_blob2, cloud2);
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// EXPECT_EQ (cloud.width, cloud2.width); // test for fromPCLPointCloud2 ()
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// EXPECT_EQ (cloud.height, cloud2.height); // test for fromPCLPointCloud2 ()
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// EXPECT_EQ (cloud.is_dense, cloud2.is_dense); // test for fromPCLPointCloud2 ()
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EXPECT_EQ (cloud.size (), cloud2.size ()); // test for fromPCLPointCloud2 ()
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for (uint32_t counter = 0; counter < cloud.size (); ++counter)
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{
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EXPECT_FLOAT_EQ (cloud[counter].x, cloud2[counter].x); // test for fromPCLPointCloud2 ()
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EXPECT_FLOAT_EQ (cloud[counter].y, cloud2[counter].y); // test for fromPCLPointCloud2 ()
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EXPECT_FLOAT_EQ (cloud[counter].z, cloud2[counter].z); // test for fromPCLPointCloud2 ()
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EXPECT_FLOAT_EQ (cloud[counter].intensity, cloud2[counter].intensity); // test for fromPCLPointCloud2 ()
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}
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}
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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class PLYTest : public ::testing::Test
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{
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protected:
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PLYTest () : mesh_file_ply_("ply_color_mesh.ply")
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{
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std::ofstream fs;
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fs.open (mesh_file_ply_.c_str ());
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fs << "ply\n"
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"format ascii 1.0\n"
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"element vertex 4\n"
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"property float x\n"
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"property float y\n"
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"property float z\n"
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"property uchar red\n"
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"property uchar green\n"
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"property uchar blue\n"
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"property uchar alpha\n"
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"element face 2\n"
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"property list uchar int vertex_indices\n"
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"end_header\n"
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"4.23607 0 1.61803 255 0 0 255\n"
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"2.61803 2.61803 2.61803 0 255 0 0\n"
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"0 1.61803 4.23607 0 0 255 128\n"
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"0 -1.61803 4.23607 255 255 255 128\n"
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"3 0 1 2\n"
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"3 1 2 3\n";
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fs.close ();
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// Test colors from ply_benchmark.ply
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rgba_1_ = static_cast<uint32_t> (255) << 24 | static_cast<uint32_t> (255) << 16 |
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static_cast<uint32_t> (0) << 8 | static_cast<uint32_t> (0);
904-
rgba_2_ = static_cast<uint32_t> (0) << 24 | static_cast<uint32_t> (0) << 16 |
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static_cast<uint32_t> (255) << 8 | static_cast<uint32_t> (0);
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rgba_3_ = static_cast<uint32_t> (128) << 24 | static_cast<uint32_t> (0) << 16 |
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static_cast<uint32_t> (0) << 8 | static_cast<uint32_t> (255);
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rgba_4_ = static_cast<uint32_t> (128) << 24 | static_cast<uint32_t> (255) << 16 |
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static_cast<uint32_t> (255) << 8 | static_cast<uint32_t> (255);
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}
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virtual
913-
~PLYTest () { remove (mesh_file_ply_.c_str ()); }
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std::string mesh_file_ply_;
916-
uint32_t rgba_1_;
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uint32_t rgba_2_;
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uint32_t rgba_3_;
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uint32_t rgba_4_;
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};
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922-
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
923-
TEST_F (PLYTest, LoadPLYFileColoredASCIIIntoBlob)
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{
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int res;
926-
uint32_t rgba;
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928-
PCLPointCloud2 cloud_blob;
929-
uint32_t ps;
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int32_t offset = -1;
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932-
// check if loading is ok
933-
res = loadPLYFile (mesh_file_ply_, cloud_blob);
934-
ASSERT_EQ (res, 0);
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936-
// blob has proper structure
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EXPECT_EQ (cloud_blob.height, 1);
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EXPECT_EQ (cloud_blob.width, 4);
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EXPECT_EQ (cloud_blob.fields.size(), 4);
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EXPECT_FALSE (cloud_blob.is_bigendian);
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EXPECT_EQ (cloud_blob.point_step, 16);
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EXPECT_EQ (cloud_blob.row_step, 16 * 4);
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EXPECT_EQ (cloud_blob.data.size(), 16 * 4);
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EXPECT_TRUE (cloud_blob.is_dense);
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946-
// scope blob data
947-
ps = cloud_blob.point_step;
948-
for (size_t i = 0; i < cloud_blob.fields.size (); ++i)
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if (cloud_blob.fields[i].name == std::string("rgba"))
950-
offset = static_cast<int32_t> (cloud_blob.fields[i].offset);
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952-
ASSERT_GE (offset, 0);
953-
954-
// 1st point
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rgba = *reinterpret_cast<uint32_t *> (&cloud_blob.data[offset]);
956-
ASSERT_EQ (rgba, rgba_1_);
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// 2th point
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rgba = *reinterpret_cast<uint32_t *> (&cloud_blob.data[ps + offset]);
960-
ASSERT_EQ (rgba, rgba_2_);
961-
962-
// 3th point
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rgba = *reinterpret_cast<uint32_t *> (&cloud_blob.data[2 * ps + offset]);
964-
ASSERT_EQ (rgba, rgba_3_);
965-
966-
// 4th point
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rgba = *reinterpret_cast<uint32_t *> (&cloud_blob.data[3 * ps + offset]);
968-
ASSERT_EQ (rgba, rgba_4_);
969-
}
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971-
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
972-
TEST_F (PLYTest, LoadPLYFileColoredASCIIIntoPolygonMesh)
973-
{
974-
int res;
975-
uint32_t rgba;
976-
PolygonMesh mesh;
977-
uint32_t ps;
978-
int32_t offset = -1;
979-
980-
// check if loading is ok
981-
res = loadPLYFile (mesh_file_ply_, mesh);
982-
ASSERT_EQ (res, 0);
983-
984-
// blob has proper structure
985-
EXPECT_EQ (mesh.cloud.height, 1);
986-
EXPECT_EQ (mesh.cloud.width, 4);
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EXPECT_EQ (mesh.cloud.fields.size(), 4);
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EXPECT_FALSE (mesh.cloud.is_bigendian);
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EXPECT_EQ (mesh.cloud.point_step, 16);
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EXPECT_EQ (mesh.cloud.row_step, 16 * 4);
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EXPECT_EQ (mesh.cloud.data.size(), 16 * 4);
992-
EXPECT_TRUE (mesh.cloud.is_dense);
993-
994-
// scope blob data
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ps = mesh.cloud.point_step;
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for (size_t i = 0; i < mesh.cloud.fields.size (); ++i)
997-
if (mesh.cloud.fields[i].name == std::string("rgba"))
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offset = static_cast<int32_t> (mesh.cloud.fields[i].offset);
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1000-
ASSERT_GE (offset, 0);
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1002-
// 1st point
1003-
rgba = *reinterpret_cast<uint32_t *> (&mesh.cloud.data[offset]);
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ASSERT_EQ (rgba, rgba_1_);
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// 2th point
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rgba = *reinterpret_cast<uint32_t *> (&mesh.cloud.data[ps + offset]);
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ASSERT_EQ (rgba, rgba_2_);
1009-
1010-
// 3th point
1011-
rgba = *reinterpret_cast<uint32_t *> (&mesh.cloud.data[2 * ps + offset]);
1012-
ASSERT_EQ (rgba, rgba_3_);
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1014-
// 4th point
1015-
rgba = *reinterpret_cast<uint32_t *> (&mesh.cloud.data[3 * ps + offset]);
1016-
ASSERT_EQ (rgba, rgba_4_);
1017-
}
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1019-
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
1020-
template <typename T> class PLYPointCloudTest : public PLYTest { };
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typedef ::testing::Types<BOOST_PP_SEQ_ENUM (PCL_RGB_POINT_TYPES)> RGBPointTypes;
1022-
TYPED_TEST_CASE (PLYPointCloudTest, RGBPointTypes);
1023-
TYPED_TEST (PLYPointCloudTest, LoadPLYFileColoredASCIIIntoPointCloud)
1024-
{
1025-
int res;
1026-
PointCloud<TypeParam> cloud_rgb;
1027-
1028-
// check if loading is ok
1029-
res = loadPLYFile (PLYTest::mesh_file_ply_, cloud_rgb);
1030-
ASSERT_EQ (res, 0);
1031-
1032-
// cloud has proper structure
1033-
EXPECT_EQ (cloud_rgb.height, 1);
1034-
EXPECT_EQ (cloud_rgb.width, 4);
1035-
EXPECT_EQ (cloud_rgb.points.size(), 4);
1036-
EXPECT_TRUE (cloud_rgb.is_dense);
1037-
1038-
// scope cloud data
1039-
ASSERT_EQ (cloud_rgb[0].rgba, PLYTest::rgba_1_);
1040-
ASSERT_EQ (cloud_rgb[1].rgba, PLYTest::rgba_2_);
1041-
ASSERT_EQ (cloud_rgb[2].rgba, PLYTest::rgba_3_);
1042-
ASSERT_EQ (cloud_rgb[3].rgba, PLYTest::rgba_4_);
1043-
}
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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struct PointXYZFPFH33

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