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114 lines
3.5 KiB
C++
114 lines
3.5 KiB
C++
// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html.
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#include "test_precomp.hpp"
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namespace opencv_test { namespace {
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using namespace cv;
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class OctreeTest: public testing::Test
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{
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protected:
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void SetUp() override
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{
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pointCloudSize = 1000;
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maxDepth = 4;
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int scale;
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Point3i pmin, pmax;
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scale = 1<<20;
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pmin = Point3i(-scale, -scale, -scale);
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pmax = Point3i(scale, scale, scale);
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RNG& rng_Point = theRNG(); // set random seed for fixing output 3D point.
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// Generate 3D PointCloud
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for(int i = 0; i < pointCloudSize; i++)
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{
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float _x = 10 * (float)rng_Point.uniform(pmin.x, pmax.x)/scale;
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float _y = 10 * (float)rng_Point.uniform(pmin.y, pmax.y)/scale;
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float _z = 10 * (float)rng_Point.uniform(pmin.z, pmax.z)/scale;
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pointcloud.push_back(Point3f(_x, _y, _z));
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}
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// Generate Octree From PointCloud.
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treeTest.create(pointcloud, maxDepth);
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// Randomly generate another 3D point.
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float _x = 10 * (float)rng_Point.uniform(pmin.x, pmax.x)/scale;
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float _y = 10 * (float)rng_Point.uniform(pmin.y, pmax.y)/scale;
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float _z = 10 * (float)rng_Point.uniform(pmin.z, pmax.z)/scale;
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restPoint = Point3f(_x, _y, _z);
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}
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public:
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std::vector<Point3f> pointcloud;
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int pointCloudSize;
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Point3f restPoint;
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Octree treeTest;
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private:
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int maxDepth;
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};
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TEST_F(OctreeTest, BasicFunctionTest)
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{
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// Check if the point in Bound.
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EXPECT_TRUE(treeTest.isPointInBound(restPoint));
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EXPECT_FALSE(treeTest.isPointInBound(restPoint + Point3f(20, 20, 20)));
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// insert, delete Test.
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EXPECT_FALSE(treeTest.deletePoint(restPoint));
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EXPECT_THROW(treeTest.insertPoint(restPoint + Point3f(20, 20, 20)), cv::Exception);
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EXPECT_NO_THROW(treeTest.insertPoint(restPoint));
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EXPECT_TRUE(treeTest.deletePoint(restPoint));
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EXPECT_FALSE(treeTest.empty());
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EXPECT_NO_THROW(treeTest.clear());
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EXPECT_TRUE(treeTest.empty());
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}
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TEST_F(OctreeTest, RadiusSearchTest)
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{
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float radius = 2.0f;
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std::vector<Point3f> outputPoints;
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std::vector<float> outputSquareDist;
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EXPECT_NO_THROW(treeTest.radiusNNSearch(restPoint, radius, outputPoints, outputSquareDist));
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EXPECT_FLOAT_EQ(outputPoints[0].x, -8.88461112976f);
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EXPECT_FLOAT_EQ(outputPoints[0].y, -1.881799697875f);
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EXPECT_FLOAT_EQ(outputPoints[1].x, -8.405818939208f);
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EXPECT_FLOAT_EQ(outputPoints[1].y, -2.991247177124f);
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EXPECT_FLOAT_EQ(outputPoints[2].x, -8.1184864044189f);
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EXPECT_FLOAT_EQ(outputPoints[2].y, -0.528564453125f);
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EXPECT_FLOAT_EQ(outputPoints[3].x, -6.551313400268f);
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EXPECT_FLOAT_EQ(outputPoints[3].y, -0.708484649658f);
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}
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TEST_F(OctreeTest, KNNSearchTest)
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{
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int K = 10;
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std::vector<Point3f> outputPoints;
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std::vector<float> outputSquareDist;
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EXPECT_NO_THROW(treeTest.KNNSearch(restPoint, K, outputPoints, outputSquareDist));
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EXPECT_FLOAT_EQ(outputPoints[0].x, -8.118486404418f);
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EXPECT_FLOAT_EQ(outputPoints[0].y, -0.528564453125f);
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EXPECT_FLOAT_EQ(outputPoints[1].x, -8.405818939208f);
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EXPECT_FLOAT_EQ(outputPoints[1].y, -2.991247177124f);
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EXPECT_FLOAT_EQ(outputPoints[2].x, -8.88461112976f);
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EXPECT_FLOAT_EQ(outputPoints[2].y, -1.881799697875f);
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EXPECT_FLOAT_EQ(outputPoints[3].x, -6.551313400268f);
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EXPECT_FLOAT_EQ(outputPoints[3].y, -0.708484649658f);
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}
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} // namespace
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} // opencv_test
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