utest.cpp

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

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

#include <pcl17/features/sgfall.h>
#include <gtest/gtest.h>

TEST(Feature1NumberOfBoundaryPoints, SquareTest)
{

        int square_size = 5;
        pcl17::PointCloud<pcl17::PointXYZ>::Ptr cloud(
                        new pcl17::PointCloud<pcl17::PointXYZ>);

        for (int i = 0; i < square_size; i++) {
                for (int j = 0; j < square_size; j++) {
                        pcl17::PointXYZ point;
                        point.x = i;
                        point.y = j;
                        point.z = 1.0f;
                        cloud->points.push_back(point);
                }
        }

        cloud->width = cloud->points.size();
        cloud->height = 1;
        cloud->is_dense = true;

        boost::shared_ptr<std::vector<int> > indicesptr(new std::vector<int>());

        for (size_t i = 0; i < cloud->points.size(); i++) {
                (*indicesptr).push_back(i);
        }

        pcl17::search::KdTree<pcl17::PointXYZ>::Ptr tree(new pcl17::search::KdTree<
                        pcl17::PointXYZ>());
        pcl17::PointCloud<pcl17::Histogram<pcl17::SGF1_SIZE> >::Ptr sgf1s(
                        new pcl17::PointCloud<pcl17::Histogram<pcl17::SGF1_SIZE> >());
        pcl17::SGF1Estimation<pcl17::PointXYZ, pcl17::Histogram<pcl17::SGF1_SIZE> > sgf1;
        sgf1.setInputCloud(cloud);
        sgf1.setIndices(indicesptr);
        sgf1.setSearchMethod(tree);
        sgf1.setKSearch(10);
        sgf1.compute(*sgf1s);

        EXPECT_FLOAT_EQ(16.0/25.0, sgf1s->points[0].histogram[0]);
}

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