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test_sample_consensus_line_models.cpp
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test_sample_consensus_line_models.cpp
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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2012, Willow Garage, Inc.
* Copyright (c) 2014-, Open Perception, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#include <gtest/gtest.h>
#include <pcl/pcl_tests.h>
#include <pcl/common/common.h>
#include <pcl/sample_consensus/ransac.h>
#include <pcl/sample_consensus/sac_model_line.h>
#include <pcl/sample_consensus/sac_model_parallel_line.h>
using namespace pcl;
typedef SampleConsensusModelLine<PointXYZ>::Ptr SampleConsensusModelLinePtr;
typedef SampleConsensusModelParallelLine<PointXYZ>::Ptr SampleConsensusModelParallelLinePtr;
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (SampleConsensusModelLine, RANSAC)
{
// Use a custom point cloud for these tests until we need something better
PointCloud<PointXYZ> cloud;
cloud.points.resize (10);
cloud.points[0].getVector3fMap () << 1.0f, 2.00f, 3.00f;
cloud.points[1].getVector3fMap () << 4.0f, 5.00f, 6.00f;
cloud.points[2].getVector3fMap () << 7.0f, 8.00f, 9.00f;
cloud.points[3].getVector3fMap () << 10.0f, 11.00f, 12.00f;
cloud.points[4].getVector3fMap () << 13.0f, 14.00f, 15.00f;
cloud.points[5].getVector3fMap () << 16.0f, 17.00f, 18.00f;
cloud.points[6].getVector3fMap () << 19.0f, 20.00f, 21.00f;
cloud.points[7].getVector3fMap () << 22.0f, 23.00f, 24.00f;
cloud.points[8].getVector3fMap () << -5.0f, 1.57f, 0.75f;
cloud.points[9].getVector3fMap () << 4.0f, 2.00f, 3.00f;
// Create a shared line model pointer directly
SampleConsensusModelLinePtr model (new SampleConsensusModelLine<PointXYZ> (cloud.makeShared ()));
// Create the RANSAC object
RandomSampleConsensus<PointXYZ> sac (model, 0.001);
// Algorithm tests
bool result = sac.computeModel ();
ASSERT_TRUE (result);
std::vector<int> sample;
sac.getModel (sample);
EXPECT_EQ (2, sample.size ());
std::vector<int> inliers;
sac.getInliers (inliers);
EXPECT_EQ (8, inliers.size ());
Eigen::VectorXf coeff;
sac.getModelCoefficients (coeff);
EXPECT_EQ (6, coeff.size ());
EXPECT_NEAR (1, coeff[4] / coeff[3], 1e-4);
EXPECT_NEAR (1, coeff[5] / coeff[3], 1e-4);
Eigen::VectorXf coeff_refined;
model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
EXPECT_EQ (6, coeff_refined.size ());
EXPECT_NEAR (1, coeff[4] / coeff[3], 1e-4);
EXPECT_NEAR (1, coeff[5] / coeff[3], 1e-4);
// Projection tests
PointCloud<PointXYZ> proj_points;
model->projectPoints (inliers, coeff_refined, proj_points);
EXPECT_XYZ_NEAR (PointXYZ ( 7.0, 8.0, 9.0), proj_points.points[2], 1e-4);
EXPECT_XYZ_NEAR (PointXYZ (10.0, 11.0, 12.0), proj_points.points[3], 1e-4);
EXPECT_XYZ_NEAR (PointXYZ (16.0, 17.0, 18.0), proj_points.points[5], 1e-4);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (SampleConsensusModelParallelLine, RANSAC)
{
PointCloud<PointXYZ> cloud (16, 1);
// Line 1
cloud.points[0].getVector3fMap () << 1.0f, 2.00f, 3.00f;
cloud.points[1].getVector3fMap () << 4.0f, 5.00f, 6.00f;
cloud.points[2].getVector3fMap () << 7.0f, 8.00f, 9.00f;
cloud.points[3].getVector3fMap () << 10.0f, 11.00f, 12.00f;
cloud.points[4].getVector3fMap () << 13.0f, 14.00f, 15.00f;
cloud.points[5].getVector3fMap () << 16.0f, 17.00f, 18.00f;
cloud.points[6].getVector3fMap () << 19.0f, 20.00f, 21.00f;
cloud.points[7].getVector3fMap () << 22.0f, 23.00f, 24.00f;
// Random points
cloud.points[8].getVector3fMap () << -5.0f, 1.57f, 0.75f;
cloud.points[9].getVector3fMap () << 4.0f, 2.00f, 3.00f;
// Line 2 (parallel to the Z axis)
cloud.points[10].getVector3fMap () << -1.00f, 5.00f, 0.0f;
cloud.points[11].getVector3fMap () << -1.05f, 5.01f, 1.0f;
cloud.points[12].getVector3fMap () << -1.01f, 5.05f, 2.0f;
cloud.points[13].getVector3fMap () << -1.05f, 5.01f, 3.0f;
cloud.points[14].getVector3fMap () << -1.01f, 5.05f, 4.0f;
cloud.points[15].getVector3fMap () << -1.05f, 5.01f, 5.0f;
// Create a shared line model pointer directly
const double eps = 0.1; //angle eps in radians
const Eigen::Vector3f axis (0, 0, 1);
SampleConsensusModelParallelLinePtr model (new SampleConsensusModelParallelLine<PointXYZ> (cloud.makeShared ()));
model->setAxis (axis);
model->setEpsAngle (eps);
// Create the RANSAC object
RandomSampleConsensus<PointXYZ> sac (model, 0.1);
// Algorithm tests
bool result = sac.computeModel ();
ASSERT_TRUE (result);
std::vector<int> sample;
sac.getModel (sample);
EXPECT_EQ (2, sample.size ());
std::vector<int> inliers;
sac.getInliers (inliers);
EXPECT_EQ (6, inliers.size ());
Eigen::VectorXf coeff;
sac.getModelCoefficients (coeff);
EXPECT_EQ (6, coeff.size ());
// Make sure the returned direction respects the angular constraint
double angle_diff = getAngle3D (axis, coeff.tail<3> ());
angle_diff = std::min (angle_diff, M_PI - angle_diff);
EXPECT_GT (eps, angle_diff);
// Projection tests
PointCloud<PointXYZ> proj_points;
model->projectPoints (inliers, coeff, proj_points);
EXPECT_XYZ_NEAR (PointXYZ (-1.05, 5.05, 3.0), proj_points.points[13], 0.1);
EXPECT_XYZ_NEAR (PointXYZ (-1.05, 5.05, 4.0), proj_points.points[14], 0.1);
}
int
main (int argc, char** argv)
{
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}