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ethz-asl / cad-percept

Bringing meshes to robotics.
BSD 3-Clause "New" or "Revised" License
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Plane Extraction with Filter PR #77

Closed drehermarc closed 4 years ago

drehermarc commented 4 years ago

Hi :) Enclosed the Pull Request discussed today.

To test, you first have to create the necessary data set. To do this, you have to change the location of the bagfile (preferably one of the experiments of Hermann), the location of the dataset and the topic in the launch file read_data.launch, then start the launchfile and wait until the files are generated. Select the scan to be use in the launch file extract_planes.launch and launch extract_planes.launch. The config files are configured to use Iterative RHT and will give a good result with the current settings.

If you have problems I would be happy if you could write me a short note here.

Greetings Marc

hermannsblum commented 4 years ago

I think this is a great opportunity to introduce some tests :)

You can find an example of writing tests here. It also has to be added to the CMakeList like here.

A simple test could e.g. be that you add a very simple mesh with 1-2 planes, sample a pointcloud from it, extract the planes and check that the normals are approximately the same. Important for testing is usually that the tests are fast and check whether some functionality breaks (by changing some underlying code). It does not have to be a realistic example.

drehermarc commented 4 years ago

I think this is a great opportunity to introduce some tests :) You can find an example of writing tests here. It also has to be added to the CMakeList like here. A simple test could e.g. be that you add a very simple mesh with 1-2 planes, sample a pointcloud from it, extract the planes and check that the normals are approximately the same. Important for testing is usually that the tests are fast and check whether some functionality breaks (by changing some underlying code). It does not have to be a realistic example.

Hi, have create a test for the plane extraction. However I am not sure if everything is fine, as if I add some obvious errors catkin build finishes without error, same for the test cases of mesh_model, what let's me assume that these files are not compiled with catkin build. Can you tell me how to compile and run this tests (I have tried catkin build --catkin-make-args run_tests and some tests passed, however I get an error for minkindr_gtsam, ... run_tests_cgal_definitions results in a "no rule to make target")?

catkin run_tests --no-deps --this has done the job :)

ethzasl-jenkins commented 4 years ago

Test FAILed.

ethzasl-jenkins commented 4 years ago

Test FAILed.