testsRBC_RGBD.cpp File Reference

Google Test Unit Tests for the kernels associated with the Random Ball Cover data structure. More...

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

Include dependency graph for testsRBC_RGBD.cpp:

Functions
void	fread (const char *path, char *data, size_t n)
	Reads in a binary file. More...
unsigned int	clean_data (std::vector< cl_float4 >::iterator dBegin, std::vector< cl_float4 >::iterator dEnd, std::vector< cl_float4 >::iterator cBegin, std::vector< cl_float4 >::iterator cEnd)
	Finds the invalid points (zero coordinates) and pushes them to the end of the sequences. More...
template<typename iterator >
void	random_unique (iterator cBegin, iterator dBegin, iterator rcBegin, iterator rdBegin, size_t n, size_t rn)
	Picks a number of elements uniformly at random without replacement from the input sequences. More...
	TEST (RBC, rbcRGBD)
	Tests the RBCSearch class on an 8-D point cloud. More...
int	main (int argc, char **argv)

Variables
bool	profiling
const std::vector< std::string >	kernel_files

Detailed Description

Google Test Unit Tests for the kernels associated with the Random Ball Cover data structure.

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

1.2.1

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

unsigned int clean_data	(	std::vector< cl_float4 >::iterator	dBegin,
		std::vector< cl_float4 >::iterator	dEnd,
		std::vector< cl_float4 >::iterator	cBegin,
		std::vector< cl_float4 >::iterator	cEnd
	)

Finds the invalid points (zero coordinates) and pushes them to the end of the sequences.

Parameters

[in]	dBegin	input iterator to the initial position of the sequence with the pc4d data.
[in]	dEnd	input iterator past the last position of the sequence with the pc4d data.
[in]	cBegin	input iterator to the initial position of the sequence with the rgba data.
[in]	cEnd	input iterator past the last position of the sequence with the rgba data.

Returns

The number of invalid points.

void fread	(	const char *	path,
		char *	data,
		size_t	n
	)

Reads in a binary file.

Parameters

[in]	path	path to the file.
[out]	data	array that receives the data.
[in]	n	number of bytes to read.

int main	(	int	argc,
		char **	argv
	)

template<typename iterator >

void random_unique	(	iterator	cBegin,
		iterator	dBegin,
		iterator	rcBegin,
		iterator	rdBegin,
		size_t	n,
		size_t	rn
	)

Picks a number of elements uniformly at random without replacement from the input sequences.

The function implements a Fisher-Yates shuffle.

Parameters

[in]	cBegin	input iterator to the initial position of the sequence with the rgba/pc4d data.
[in]	dBegin	input iterator to the initial position of the sequence with the pc4d/rgba data.
[out]	rcBegin	output iterator to the initial position of the sequence with the chosen rgba/pc4d data.
[out]	rdBegin	output iterator to the initial position of the sequence with the chosen pc4d/rgba data.
[in]	n	number of points in the input sequences.
[in]	rn	number of points in the output sequences.

TEST	(	RBC	,
		rbcRGBD
	)

Tests the RBCSearch class on an 8-D point cloud.

The class computes the NNs of a set of queries.

Variable Documentation

const std::vector<std::string> kernel_files

Initial value:

= { "kernels/rbc_kernels.cl", 
                                                "kernels/scan_kernels.cl",
                                                "kernels/reduce_kernels.cl" }

bool profiling