1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2009-2012, Willow Garage, Inc.
6 * Copyright (c) 2012-, Open Perception, Inc.
7 * Copyright (c) 2014, RadiantBlue Technologies, Inc.
8 *
9 * All rights reserved.
10 *
11 * Redistribution and use in source and binary forms, with or without
12 * modification, are permitted provided that the following conditions
13 * are met:
14 *
15 * * Redistributions of source code must retain the above copyright
16 * notice, this list of conditions and the following disclaimer.
17 * * Redistributions in binary form must reproduce the above
18 * copyright notice, this list of conditions and the following
19 * disclaimer in the documentation and/or other materials provided
20 * with the distribution.
21 * * Neither the name of the copyright holder(s) nor the names of its
22 * contributors may be used to endorse or promote products derived
23 * from this software without specific prior written permission.
24 *
25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
26 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
27 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
28 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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36 * POSSIBILITY OF SUCH DAMAGE.
37 *
38 * $Id$
39 *
40 */
41
42 #include <pcl/test/gtest.h>
43 #include <pcl/filters/grid_minimum.h>
44 #include <pcl/point_types.h>
45
46 using namespace pcl;
47
48 PointCloud<PointXYZ> cloud;
49
50 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST(Grid,Minimum)51 TEST (Grid, Minimum)
52 {
53 PointCloud<PointXYZ> cloud_in, cloud_out;
54
55 cloud_in.height = 1;
56 cloud_in.width = 3;
57 cloud_in.is_dense = true;
58 cloud_in.resize (3);
59
60 cloud_in[0].x = 0; cloud_in[0].y = 0; cloud_in[0].z = 0.25;
61 cloud_in[1].x = 0.5; cloud_in[1].y = 0.5; cloud_in[1].z = 1;
62 cloud_in[2].x = 1.5; cloud_in[2].y = 1.5; cloud_in[2].z = 0.0;
63
64 GridMinimum<PointXYZ> gm (1.0f);
65 gm.setInputCloud (cloud_in.makeShared ());
66 gm.filter (cloud_out);
67
68 EXPECT_EQ (cloud_out[0].z, 0.25f);
69 EXPECT_EQ (cloud_out[1].z, 0.0f);
70 EXPECT_EQ (cloud_out.size (), 2);
71 EXPECT_EQ (gm.getResolution (), 1.0f);
72
73 gm.setResolution (2.0f);
74 gm.filter (cloud_out);
75
76 EXPECT_EQ (cloud_out[0].z, 0.0f);
77 EXPECT_EQ (cloud_out.size (), 1);
78 EXPECT_EQ (gm.getResolution (), 2.0f);
79 }
80
81 /* ---[ */
82 int
main(int argc,char ** argv)83 main (int argc, char** argv)
84 {
85 testing::InitGoogleTest (&argc, argv);
86 return (RUN_ALL_TESTS ());
87 }
88 /* ]--- */
89
90