testsICP.cpp File Reference

Google Test Unit Tests for the ICP kernels. More...

#include <iostream>
#include <vector>
#include <string>
#include <algorithm>
#include <chrono>
#include <random>
#include <limits>
#include <cmath>
#include <gtest/gtest.h>
#include <CLUtils.hpp>
#include <RBC/data_types.hpp>
#include <ICP/algorithms.hpp>
#include <ICP/tests/helper_funcs.hpp>

Include dependency graph for testsICP.cpp:

Namespaces
	ICP
	Offers functions that are serial CPU implementations of the relevant algorithms in the ICP pipeline.

Functions
	TEST (ICP, getLMs)
	Tests the icpGetLMs kernel. More...
	TEST (ICP, getReps)
	Tests the icpGetReps kernel. More...
	TEST (ICP, icpComputeReduceWeights)
	Tests the icpComputeReduceWeights kernel. More...
	TEST (ICP, icpMean)
	Tests the icpMean kernel. More...
	TEST (ICP, icpMean_Weighted)
	Tests the icpMean_Weighted kernel. More...
	TEST (ICP, icpSubtractMean)
	Tests the icpSubtractMean kernel. More...
	TEST (ICP, icpSijProducts)
	Tests the icpSijProducts kernel. More...
	TEST (ICP, icpSijProducts_Weighted)
	Tests the icpSijProducts_Weighted kernel. More...
	TEST (ICP, icpTransform_Quaternion)
	Tests the icpTransform_Quaternion kernel. More...
	TEST (ICP, icpTransform_Matrix)
	Tests the icpTransform_Matrix kernel. More...
	TEST (ICP, icpPowerMethod)
	Tests the icpPowerMethod kernel. More...
int	main (int argc, char **argv)

Variables
const std::string	kernel_filename_reduce { "kernels/ICP/reduce_kernels.cl" }
const std::string	kernel_filename_icp { "kernels/ICP/icp_kernels.cl" }
bool	profiling

Detailed Description

Google Test Unit Tests for the ICP kernels.

Note

Use the --profiling flag to enable profiling of the kernels.

The benchmarks in these tests are against naive CPU implementations of the associated algorithms. They are used only for testing purposes, and not for examining the performance of their GPU alternatives.

Author

Nick Lamprianidis

Version

1.1.0

Date

2015

Copyright

The MIT License (MIT)

Copyright (c) 2015 Nick Lamprianidis

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

Function Documentation

int main	(	int	argc,
		char **	argv
	)

TEST	(	ICP	,
		getLMs
	)

Tests the icpGetLMs kernel.

The kernel samples a set of landmarks.

TEST	(	ICP	,
		getReps
	)

Tests the icpGetReps kernel.

The kernel samples a set of representatives.

TEST	(	ICP	,
		icpComputeReduceWeights
	)

Tests the icpComputeReduceWeights kernel.

The kernel computes weights and their sum.

TEST	(	ICP	,
		icpMean
	)

Tests the icpMean kernel.

The kernel computes the means of sets of points.

TEST	(	ICP	,
		icpMean_Weighted
	)

Tests the icpMean_Weighted kernel.

The kernel computes the means of sets of points.

TEST	(	ICP	,
		icpSubtractMean
	)

Tests the icpSubtractMean kernel.

The kernel computes the deviations of a set of points from their mean.

TEST	(	ICP	,
		icpSijProducts
	)

Tests the icpSijProducts kernel.

The kernel produces the products in the Si elements of the S matrix.

TEST	(	ICP	,
		icpSijProducts_Weighted
	)

Tests the icpSijProducts_Weighted kernel.

The kernel produces the weighted products in the Si elements of the S matrix.

TEST	(	ICP	,
		icpTransform_Quaternion
	)

Tests the icpTransform_Quaternion kernel.

The kernel transforms a set of points using a unit quaternion and a translation vector.

TEST	(	ICP	,
		icpTransform_Matrix
	)

Tests the icpTransform_Matrix kernel.

The kernel transforms a set of points using a transformation matrix.

TEST	(	ICP	,
		icpPowerMethod
	)

Tests the icpPowerMethod kernel.

The kernel uses the Power Method to estimate the incremental development in the transformation estimation.

Variable Documentation

const std::string kernel_filename_icp { "kernels/ICP/icp_kernels.cl" }

const std::string kernel_filename_reduce { "kernels/ICP/reduce_kernels.cl" }

bool profiling