utest.cpp

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/*
 * test.cpp
 *
 *  Created on: May 5, 2012
 *      Author: vsu
 */

#include <training.h>
#include <sac_3dof.h>
#include <pcl17/io/io.h>
#include <gtest/gtest.h>

// Runs clustering with the same number of points as number of clusters
// Checks if returned cluster centers are the same as points
TEST(ClusteringTest, SameNumberOfPointsAndClusters)
{

  std::vector<featureType> features;
  std::vector<featureType> cluster_centers;
  std::vector<int> cluster_labels;
  int num_clusters = 10;

  for (int i = 0; i < num_clusters; i++)
  {
    featureType feature;

    for (int j = 0; j < featureLength; j++)
    {
      feature.histogram[j] = (float)rand() / (float)RAND_MAX;
    }
    features.push_back(feature);
  }

  cluster_features(features, num_clusters, cluster_centers, cluster_labels);

  for (int i = 0; i < num_clusters; i++)
  {
    featureType feature = features[i];
    featureType cluster_center = cluster_centers[cluster_labels[i]];
    for (int j = 0; j < featureLength; j++)
    {
      EXPECT_FLOAT_EQ(feature.histogram[j], cluster_center.histogram[j])
<<        "Feature and Cluster Center differ at index " << j;
      }
    }
  }

  // Creates a vector of 6 points: 0, 0+delta, 0-delta, 1, 1+delta, 1-delta and runs clustering
  // Checks if first 3 points have centroids in 0 and last 3 in 1
TEST(ClusteringTest, SymetricDelta)
{

  std::vector<featureType> features;
  std::vector<featureType> cluster_centers;
  std::vector<int> cluster_labels;
  int num_clusters = 2;
  float delta = 0.01;

  featureType feature;

  for (int j = 0; j < featureLength; j++)
  {
    feature.histogram[j] = 0;
  }
  features.push_back(feature);

  for (int j = 0; j < featureLength; j++)
  {
    feature.histogram[j] = 0 - delta;
  }
  features.push_back(feature);

  for (int j = 0; j < featureLength; j++)
  {
    feature.histogram[j] = 0 + delta;
  }
  features.push_back(feature);

  for (int j = 0; j < featureLength; j++)
  {
    feature.histogram[j] = 1;
  }
  features.push_back(feature);

  for (int j = 0; j < featureLength; j++)
  {
    feature.histogram[j] = 1 - delta;
  }
  features.push_back(feature);

  for (int j = 0; j < featureLength; j++)
  {
    feature.histogram[j] = 1 + delta;
  }
  features.push_back(feature);

  cluster_features(features, num_clusters, cluster_centers, cluster_labels);

  for (int i = 0; i < 3; i++)
  {
    featureType cluster_center = cluster_centers[cluster_labels[i]];
    for (int j = 0; j < featureLength; j++)
    {
      EXPECT_FLOAT_EQ(0.0f, cluster_center.histogram[j])
<<        "Cluster Center is not equal to 0 at index " << j;
      }
    }

    for (int i = 3; i < 6; i++)
    {
      featureType cluster_center = cluster_centers[cluster_labels[i]];
      for (int j = 0; j < featureLength; j++)
      {
        EXPECT_FLOAT_EQ(1.0f, cluster_center.histogram[j])
        << "Cluster Center is not equal to 1 at index " << j;
      }
    }
  }



int main(int argc, char **argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}