test_convolution.cpp

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#include <gtest/gtest.h>
#include <pcl/pcl_tests.h>
#include <pcl/filters/convolution.h>
#include <pcl/point_types.h>

using namespace pcl;
using namespace pcl::test;

PointCloud<PointXYZI>::Ptr input (new PointCloud<PointXYZI> ());
Eigen::ArrayXf filter(7);

TEST (Convolution, convolveRows)
{
  using namespace pcl::common;
  using namespace pcl::filters;
  pcl::filters::Convolution<PointXYZI, PointXYZI> convolve;
  PointCloud<PointXYZI>::Ptr output;
  output.reset (new PointCloud<PointXYZI> ());
  convolve.setInputCloud (input);
  convolve.setKernel (filter);
  convolve.convolveRows (*output);

  // first output row
  Eigen::ArrayXf output_0 (64);
  output_0[0] = 0; output_0[1] = 0; output_0[2] = 0; output_0[3] = 94.1702; output_0[4] = 93.3588; output_0[5] = 92.8969; output_0[6] = 92.8653; output_0[7] = 92.484; output_0[8] = 92.0451; output_0[9] = 91.6455; output_0[10] = 90.9415; output_0[11] = 90.0539; output_0[12] = 89.3048; output_0[13] = 88.7623; output_0[14] = 88.3004; output_0[15] = 88.0044; output_0[16] = 87.7579; output_0[17] = 87.5424; output_0[18] = 87.4441; output_0[19] = 87.0711; output_0[20] = 86.1525; output_0[21] = 84.9014; output_0[22] = 84.1213; output_0[23] = 83.7668; output_0[24] = 83.5469; output_0[25] = 83.5159; output_0[26] = 83.538; output_0[27] = 83.641; output_0[28] = 83.3946; output_0[29] = 82.7889; output_0[30] = 82.3278; output_0[31] = 82.0983; output_0[32] = 82.2605; output_0[33] = 82.376; output_0[34] = 82.1481; output_0[35] = 81.5513; output_0[36] = 81.1708; output_0[37] = 81.3049; output_0[38] = 81.6366; output_0[39] = 81.5826; output_0[40] = 80.9955; output_0[41] = 80.3633; output_0[42] = 80.1213; output_0[43] = 80.3048; output_0[44] = 80.695; output_0[45] = 80.8831; output_0[46] = 80.6995; output_0[47] = 80.3633; output_0[48] = 80.435; output_0[49] = 81.278; output_0[50] = 83.3201; output_0[51] = 86.7523; output_0[52] = 88.1634; output_0[53] = 83.7249; output_0[54] = 77.6666; output_0[55] = 75.8489; output_0[56] = 77.8468; output_0[57] = 79.8108; output_0[58] = 80.4707; output_0[59] = 80.9244; output_0[60] = 81.8518; output_0[61] = 0; output_0[62] = 0; output_0[63] = 0;

  // last output row
  Eigen::ArrayXf output_47 (64);
  output_47[0] = 0; output_47[1] = 0; output_47[2] = 0; output_47[3] = 121.887; output_47[4] = 121.395; output_47[5] = 120.547; output_47[6] = 119.866; output_47[7] = 119.493; output_47[8] = 119.153; output_47[9] = 118.484; output_47[10] = 117.753; output_47[11] = 117.009; output_47[12] = 116.35; output_47[13] = 115.941; output_47[14] = 115.349; output_47[15] = 114.35; output_47[16] = 113.588; output_47[17] = 112.99; output_47[18] = 111.645; output_47[19] = 110.009; output_47[20] = 109.13; output_47[21] = 108.771; output_47[22] = 108.592; output_47[23] = 108.641; output_47[24] = 108.345; output_47[25] = 107.592; output_47[26] = 107.063; output_47[27] = 106.767; output_47[28] = 106.592; output_47[29] = 106.645; output_47[30] = 106.399; output_47[31] = 105.843; output_47[32] = 105.57; output_47[33] = 105.502; output_47[34] = 105.557; output_47[35] = 105.672; output_47[36] = 105.56; output_47[37] = 104.897; output_47[38] = 104.642; output_47[39] = 104.708; output_47[40] = 104.054; output_47[41] = 103.556; output_47[42] = 103.982; output_47[43] = 104.43; output_47[44] = 104.682; output_47[45] = 104.596; output_47[46] = 104.104; output_47[47] = 103.852; output_47[48] = 103.964; output_47[49] = 103.91; output_47[50] = 103.556; output_47[51] = 102.614; output_47[52] = 102.126; output_47[53] = 102.762; output_47[54] = 103.466; output_47[55] = 103.273; output_47[56] = 102.292; output_47[57] = 101.363; output_47[58] = 100.821; output_47[59] = 100.538; output_47[60] = 100.332; output_47[61] = 0; output_47[62] = 0; output_47[63] = 0;

  uint32_t j = 0;
  for (uint32_t i = 0; i < output->width ; ++i)
    EXPECT_NEAR ((*output) (i,j).intensity, output_0[i], 1e-3);
  j = 47;
  for (uint32_t i = 0; i < output->width ; ++i)
    EXPECT_NEAR ((*output) (i,j).intensity, output_47[i], 1e-3);

  // std::cout << "output size " << output->width << "x" << output->height << std::endl;
  // for(uint32_t j = 0; j < input.height; ++j)
  // {
  //   uint32_t i;
  //   for (i = 0; i < 3; ++i)
  //     EXPECT_EQ ((*output) (i,j).intensity, 0);
  //   for (i = 3; i < 61; ++i)
  //     std::cout << (*output) (i,j).intensity << " ";
  //   for (i = 61; i < 64; ++i)
  //     EXPECT_EQ ((*output) (i,j).intensity, 0);
  //   std::cout << std::endl;
  // }

}

int
main (int argc, char** argv)
{
  filter << 0.00443305, 0.0540056, 0.242036, 0.39905, 0.242036, 0.0540056, 0.00443305;
  input->width = 64;
  input->height = 48;
  input->resize (64 * 48);
  // To avoid linking to pcl_io, set a point cloud 64x48
  (*input) (0,0).intensity = 97;
  (*input) (1,0).intensity = 96;
  (*input) (2,0).intensity = 94;
  (*input) (3,0).intensity = 95;
  (*input) (4,0).intensity = 93;
  (*input) (5,0).intensity = 92;
  (*input) (6,0).intensity = 94;
  (*input) (7,0).intensity = 92;
  (*input) (8,0).intensity = 92;
  (*input) (9,0).intensity = 92;
  (*input) (10,0).intensity = 91;
  (*input) (11,0).intensity = 90;
  (*input) (12,0).intensity = 89;
  (*input) (13,0).intensity = 89;
  (*input) (14,0).intensity = 88;
  (*input) (15,0).intensity = 88;
  (*input) (16,0).intensity = 88;
  (*input) (17,0).intensity = 87;
  (*input) (18,0).intensity = 88;
  (*input) (19,0).intensity = 87;
  (*input) (20,0).intensity = 87;
  (*input) (21,0).intensity = 84;
  (*input) (22,0).intensity = 84;
  (*input) (23,0).intensity = 84;
  (*input) (24,0).intensity = 83;
  (*input) (25,0).intensity = 84;
  (*input) (26,0).intensity = 83;
  (*input) (27,0).intensity = 84;
  (*input) (28,0).intensity = 84;
  (*input) (29,0).intensity = 82;
  (*input) (30,0).intensity = 83;
  (*input) (31,0).intensity = 81;
  (*input) (32,0).intensity = 83;
  (*input) (33,0).intensity = 82;
  (*input) (34,0).intensity = 83;
  (*input) (35,0).intensity = 81;
  (*input) (36,0).intensity = 81;
  (*input) (37,0).intensity = 81;
  (*input) (38,0).intensity = 82;
  (*input) (39,0).intensity = 82;
  (*input) (40,0).intensity = 81;
  (*input) (41,0).intensity = 80;
  (*input) (42,0).intensity = 80;
  (*input) (43,0).intensity = 80;
  (*input) (44,0).intensity = 81;
  (*input) (45,0).intensity = 81;
  (*input) (46,0).intensity = 81;
  (*input) (47,0).intensity = 80;
  (*input) (48,0).intensity = 80;
  (*input) (49,0).intensity = 81;
  (*input) (50,0).intensity = 82;
  (*input) (51,0).intensity = 86;
  (*input) (52,0).intensity = 95;
  (*input) (53,0).intensity = 84;
  (*input) (54,0).intensity = 74;
  (*input) (55,0).intensity = 73;
  (*input) (56,0).intensity = 79;
  (*input) (57,0).intensity = 81;
  (*input) (58,0).intensity = 80;
  (*input) (59,0).intensity = 81;
  (*input) (60,0).intensity = 81;
  (*input) (61,0).intensity = 84;
  (*input) (62,0).intensity = 84;
  (*input) (63,0).intensity = 85;
  (*input) (0,1).intensity = 97;
  (*input) (1,1).intensity = 96;
  (*input) (2,1).intensity = 95;
  (*input) (3,1).intensity = 93;
  (*input) (4,1).intensity = 94;
  (*input) (5,1).intensity = 92;
  (*input) (6,1).intensity = 93;
  (*input) (7,1).intensity = 92;
  (*input) (8,1).intensity = 92;
  (*input) (9,1).intensity = 91;
  (*input) (10,1).intensity = 91;
  (*input) (11,1).intensity = 89;
  (*input) (12,1).intensity = 88;
  (*input) (13,1).intensity = 88;
  (*input) (14,1).intensity = 88;
  (*input) (15,1).intensity = 88;
  (*input) (16,1).intensity = 86;
  (*input) (17,1).intensity = 86;
  (*input) (18,1).intensity = 89;
  (*input) (19,1).intensity = 87;
  (*input) (20,1).intensity = 88;
  (*input) (21,1).intensity = 85;
  (*input) (22,1).intensity = 85;
  (*input) (23,1).intensity = 82;
  (*input) (24,1).intensity = 83;
  (*input) (25,1).intensity = 84;
  (*input) (26,1).intensity = 82;
  (*input) (27,1).intensity = 83;
  (*input) (28,1).intensity = 82;
  (*input) (29,1).intensity = 83;
  (*input) (30,1).intensity = 80;
  (*input) (31,1).intensity = 79;
  (*input) (32,1).intensity = 81;
  (*input) (33,1).intensity = 81;
  (*input) (34,1).intensity = 82;
  (*input) (35,1).intensity = 79;
  (*input) (36,1).intensity = 79;
  (*input) (37,1).intensity = 80;
  (*input) (38,1).intensity = 79;
  (*input) (39,1).intensity = 81;
  (*input) (40,1).intensity = 78;
  (*input) (41,1).intensity = 79;
  (*input) (42,1).intensity = 77;
  (*input) (43,1).intensity = 77;
  (*input) (44,1).intensity = 80;
  (*input) (45,1).intensity = 78;
  (*input) (46,1).intensity = 79;
  (*input) (47,1).intensity = 78;
  (*input) (48,1).intensity = 77;
  (*input) (49,1).intensity = 78;
  (*input) (50,1).intensity = 79;
  (*input) (51,1).intensity = 81;
  (*input) (52,1).intensity = 89;
  (*input) (53,1).intensity = 92;
  (*input) (54,1).intensity = 88;
  (*input) (55,1).intensity = 80;
  (*input) (56,1).intensity = 77;
  (*input) (57,1).intensity = 77;
  (*input) (58,1).intensity = 78;
  (*input) (59,1).intensity = 78;
  (*input) (60,1).intensity = 77;
  (*input) (61,1).intensity = 79;
  (*input) (62,1).intensity = 77;
  (*input) (63,1).intensity = 79;
  (*input) (0,2).intensity = 96;
  (*input) (1,2).intensity = 96;
  (*input) (2,2).intensity = 94;
  (*input) (3,2).intensity = 94;
  (*input) (4,2).intensity = 92;
  (*input) (5,2).intensity = 92;
  (*input) (6,2).intensity = 94;
  (*input) (7,2).intensity = 92;
  (*input) (8,2).intensity = 90;
  (*input) (9,2).intensity = 88;
  (*input) (10,2).intensity = 89;
  (*input) (11,2).intensity = 88;
  (*input) (12,2).intensity = 87;
  (*input) (13,2).intensity = 85;
  (*input) (14,2).intensity = 86;
  (*input) (15,2).intensity = 85;
  (*input) (16,2).intensity = 83;
  (*input) (17,2).intensity = 83;
  (*input) (18,2).intensity = 87;
  (*input) (19,2).intensity = 85;
  (*input) (20,2).intensity = 86;
  (*input) (21,2).intensity = 82;
  (*input) (22,2).intensity = 83;
  (*input) (23,2).intensity = 82;
  (*input) (24,2).intensity = 81;
  (*input) (25,2).intensity = 82;
  (*input) (26,2).intensity = 82;
  (*input) (27,2).intensity = 82;
  (*input) (28,2).intensity = 82;
  (*input) (29,2).intensity = 82;
  (*input) (30,2).intensity = 81;
  (*input) (31,2).intensity = 80;
  (*input) (32,2).intensity = 81;
  (*input) (33,2).intensity = 79;
  (*input) (34,2).intensity = 81;
  (*input) (35,2).intensity = 79;
  (*input) (36,2).intensity = 81;
  (*input) (37,2).intensity = 83;
  (*input) (38,2).intensity = 79;
  (*input) (39,2).intensity = 78;
  (*input) (40,2).intensity = 81;
  (*input) (41,2).intensity = 83;
  (*input) (42,2).intensity = 81;
  (*input) (43,2).intensity = 80;
  (*input) (44,2).intensity = 81;
  (*input) (45,2).intensity = 80;
  (*input) (46,2).intensity = 78;
  (*input) (47,2).intensity = 79;
  (*input) (48,2).intensity = 79;
  (*input) (49,2).intensity = 80;
  (*input) (50,2).intensity = 80;
  (*input) (51,2).intensity = 81;
  (*input) (52,2).intensity = 82;
  (*input) (53,2).intensity = 83;
  (*input) (54,2).intensity = 84;
  (*input) (55,2).intensity = 81;
  (*input) (56,2).intensity = 79;
  (*input) (57,2).intensity = 78;
  (*input) (58,2).intensity = 77;
  (*input) (59,2).intensity = 77;
  (*input) (60,2).intensity = 76;
  (*input) (61,2).intensity = 74;
  (*input) (62,2).intensity = 77;
  (*input) (63,2).intensity = 79;
  (*input) (0,3).intensity = 93;
  (*input) (1,3).intensity = 93;
  (*input) (2,3).intensity = 94;
  (*input) (3,3).intensity = 92;
  (*input) (4,3).intensity = 92;
  (*input) (5,3).intensity = 92;
  (*input) (6,3).intensity = 93;
  (*input) (7,3).intensity = 93;
  (*input) (8,3).intensity = 92;
  (*input) (9,3).intensity = 90;
  (*input) (10,3).intensity = 92;
  (*input) (11,3).intensity = 91;
  (*input) (12,3).intensity = 90;
  (*input) (13,3).intensity = 89;
  (*input) (14,3).intensity = 90;
  (*input) (15,3).intensity = 90;
  (*input) (16,3).intensity = 89;
  (*input) (17,3).intensity = 90;
  (*input) (18,3).intensity = 91;
  (*input) (19,3).intensity = 91;
  (*input) (20,3).intensity = 93;
  (*input) (21,3).intensity = 89;
  (*input) (22,3).intensity = 91;
  (*input) (23,3).intensity = 91;
  (*input) (24,3).intensity = 90;
  (*input) (25,3).intensity = 91;
  (*input) (26,3).intensity = 89;
  (*input) (27,3).intensity = 88;
  (*input) (28,3).intensity = 91;
  (*input) (29,3).intensity = 90;
  (*input) (30,3).intensity = 90;
  (*input) (31,3).intensity = 91;
  (*input) (32,3).intensity = 89;
  (*input) (33,3).intensity = 89;
  (*input) (34,3).intensity = 87;
  (*input) (35,3).intensity = 88;
  (*input) (36,3).intensity = 90;
  (*input) (37,3).intensity = 91;
  (*input) (38,3).intensity = 90;
  (*input) (39,3).intensity = 87;
  (*input) (40,3).intensity = 92;
  (*input) (41,3).intensity = 91;
  (*input) (42,3).intensity = 91;
  (*input) (43,3).intensity = 91;
  (*input) (44,3).intensity = 91;
  (*input) (45,3).intensity = 90;
  (*input) (46,3).intensity = 89;
  (*input) (47,3).intensity = 87;
  (*input) (48,3).intensity = 90;
  (*input) (49,3).intensity = 90;
  (*input) (50,3).intensity = 90;
  (*input) (51,3).intensity = 88;
  (*input) (52,3).intensity = 89;
  (*input) (53,3).intensity = 87;
  (*input) (54,3).intensity = 88;
  (*input) (55,3).intensity = 87;
  (*input) (56,3).intensity = 88;
  (*input) (57,3).intensity = 85;
  (*input) (58,3).intensity = 86;
  (*input) (59,3).intensity = 85;
  (*input) (60,3).intensity = 84;
  (*input) (61,3).intensity = 82;
  (*input) (62,3).intensity = 79;
  (*input) (63,3).intensity = 68;
  (*input) (0,4).intensity = 99;
  (*input) (1,4).intensity = 96;
  (*input) (2,4).intensity = 98;
  (*input) (3,4).intensity = 98;
  (*input) (4,4).intensity = 96;
  (*input) (5,4).intensity = 98;
  (*input) (6,4).intensity = 98;
  (*input) (7,4).intensity = 98;
  (*input) (8,4).intensity = 96;
  (*input) (9,4).intensity = 96;
  (*input) (10,4).intensity = 98;
  (*input) (11,4).intensity = 99;
  (*input) (12,4).intensity = 99;
  (*input) (13,4).intensity = 97;
  (*input) (14,4).intensity = 97;
  (*input) (15,4).intensity = 98;
  (*input) (16,4).intensity = 98;
  (*input) (17,4).intensity = 99;
  (*input) (18,4).intensity = 97;
  (*input) (19,4).intensity = 95;
  (*input) (20,4).intensity = 98;
  (*input) (21,4).intensity = 96;
  (*input) (22,4).intensity = 98;
  (*input) (23,4).intensity = 98;
  (*input) (24,4).intensity = 97;
  (*input) (25,4).intensity = 97;
  (*input) (26,4).intensity = 99;
  (*input) (27,4).intensity = 97;
  (*input) (28,4).intensity = 96;
  (*input) (29,4).intensity = 96;
  (*input) (30,4).intensity = 96;
  (*input) (31,4).intensity = 97;
  (*input) (32,4).intensity = 96;
  (*input) (33,4).intensity = 96;
  (*input) (34,4).intensity = 96;
  (*input) (35,4).intensity = 97;
  (*input) (36,4).intensity = 97;
  (*input) (37,4).intensity = 96;
  (*input) (38,4).intensity = 96;
  (*input) (39,4).intensity = 94;
  (*input) (40,4).intensity = 96;
  (*input) (41,4).intensity = 95;
  (*input) (42,4).intensity = 97;
  (*input) (43,4).intensity = 97;
  (*input) (44,4).intensity = 97;
  (*input) (45,4).intensity = 96;
  (*input) (46,4).intensity = 94;
  (*input) (47,4).intensity = 94;
  (*input) (48,4).intensity = 96;
  (*input) (49,4).intensity = 96;
  (*input) (50,4).intensity = 97;
  (*input) (51,4).intensity = 93;
  (*input) (52,4).intensity = 95;
  (*input) (53,4).intensity = 92;
  (*input) (54,4).intensity = 92;
  (*input) (55,4).intensity = 94;
  (*input) (56,4).intensity = 93;
  (*input) (57,4).intensity = 93;
  (*input) (58,4).intensity = 92;
  (*input) (59,4).intensity = 92;
  (*input) (60,4).intensity = 90;
  (*input) (61,4).intensity = 86;
  (*input) (62,4).intensity = 70;
  (*input) (63,4).intensity = 49;
  (*input) (0,5).intensity = 95;
  (*input) (1,5).intensity = 93;
  (*input) (2,5).intensity = 93;
  (*input) (3,5).intensity = 94;
  (*input) (4,5).intensity = 93;
  (*input) (5,5).intensity = 94;
  (*input) (6,5).intensity = 93;
  (*input) (7,5).intensity = 92;
  (*input) (8,5).intensity = 93;
  (*input) (9,5).intensity = 93;
  (*input) (10,5).intensity = 90;
  (*input) (11,5).intensity = 92;
  (*input) (12,5).intensity = 89;
  (*input) (13,5).intensity = 90;
  (*input) (14,5).intensity = 89;
  (*input) (15,5).intensity = 89;
  (*input) (16,5).intensity = 90;
  (*input) (17,5).intensity = 90;
  (*input) (18,5).intensity = 88;
  (*input) (19,5).intensity = 86;
  (*input) (20,5).intensity = 87;
  (*input) (21,5).intensity = 89;
  (*input) (22,5).intensity = 88;
  (*input) (23,5).intensity = 89;
  (*input) (24,5).intensity = 88;
  (*input) (25,5).intensity = 90;
  (*input) (26,5).intensity = 91;
  (*input) (27,5).intensity = 89;
  (*input) (28,5).intensity = 87;
  (*input) (29,5).intensity = 87;
  (*input) (30,5).intensity = 89;
  (*input) (31,5).intensity = 87;
  (*input) (32,5).intensity = 89;
  (*input) (33,5).intensity = 89;
  (*input) (34,5).intensity = 88;
  (*input) (35,5).intensity = 92;
  (*input) (36,5).intensity = 92;
  (*input) (37,5).intensity = 90;
  (*input) (38,5).intensity = 91;
  (*input) (39,5).intensity = 90;
  (*input) (40,5).intensity = 91;
  (*input) (41,5).intensity = 87;
  (*input) (42,5).intensity = 91;
  (*input) (43,5).intensity = 91;
  (*input) (44,5).intensity = 91;
  (*input) (45,5).intensity = 91;
  (*input) (46,5).intensity = 90;
  (*input) (47,5).intensity = 92;
  (*input) (48,5).intensity = 91;
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  (*input) (47,39).intensity = 101;
  (*input) (48,39).intensity = 99;
  (*input) (49,39).intensity = 101;
  (*input) (50,39).intensity = 101;
  (*input) (51,39).intensity = 99;
  (*input) (52,39).intensity = 99;
  (*input) (53,39).intensity = 99;
  (*input) (54,39).intensity = 100;
  (*input) (55,39).intensity = 100;
  (*input) (56,39).intensity = 98;
  (*input) (57,39).intensity = 98;
  (*input) (58,39).intensity = 98;
  (*input) (59,39).intensity = 98;
  (*input) (60,39).intensity = 97;
  (*input) (61,39).intensity = 97;
  (*input) (62,39).intensity = 98;
  (*input) (63,39).intensity = 97;
  (*input) (0,40).intensity = 121;
  (*input) (1,40).intensity = 119;
  (*input) (2,40).intensity = 119;
  (*input) (3,40).intensity = 118;
  (*input) (4,40).intensity = 116;
  (*input) (5,40).intensity = 117;
  (*input) (6,40).intensity = 117;
  (*input) (7,40).intensity = 114;
  (*input) (8,40).intensity = 115;
  (*input) (9,40).intensity = 113;
  (*input) (10,40).intensity = 112;
  (*input) (11,40).intensity = 110;
  (*input) (12,40).intensity = 111;
  (*input) (13,40).intensity = 111;
  (*input) (14,40).intensity = 107;
  (*input) (15,40).intensity = 107;
  (*input) (16,40).intensity = 107;
  (*input) (17,40).intensity = 106;
  (*input) (18,40).intensity = 106;
  (*input) (19,40).intensity = 106;
  (*input) (20,40).intensity = 107;
  (*input) (21,40).intensity = 106;
  (*input) (22,40).intensity = 104;
  (*input) (23,40).intensity = 105;
  (*input) (24,40).intensity = 104;
  (*input) (25,40).intensity = 105;
  (*input) (26,40).intensity = 103;
  (*input) (27,40).intensity = 105;
  (*input) (28,40).intensity = 104;
  (*input) (29,40).intensity = 103;
  (*input) (30,40).intensity = 105;
  (*input) (31,40).intensity = 103;
  (*input) (32,40).intensity = 105;
  (*input) (33,40).intensity = 104;
  (*input) (34,40).intensity = 103;
  (*input) (35,40).intensity = 102;
  (*input) (36,40).intensity = 102;
  (*input) (37,40).intensity = 103;
  (*input) (38,40).intensity = 102;
  (*input) (39,40).intensity = 101;
  (*input) (40,40).intensity = 102;
  (*input) (41,40).intensity = 102;
  (*input) (42,40).intensity = 103;
  (*input) (43,40).intensity = 103;
  (*input) (44,40).intensity = 102;
  (*input) (45,40).intensity = 102;
  (*input) (46,40).intensity = 102;
  (*input) (47,40).intensity = 101;
  (*input) (48,40).intensity = 101;
  (*input) (49,40).intensity = 100;
  (*input) (50,40).intensity = 102;
  (*input) (51,40).intensity = 99;
  (*input) (52,40).intensity = 101;
  (*input) (53,40).intensity = 99;
  (*input) (54,40).intensity = 99;
  (*input) (55,40).intensity = 99;
  (*input) (56,40).intensity = 97;
  (*input) (57,40).intensity = 99;
  (*input) (58,40).intensity = 98;
  (*input) (59,40).intensity = 99;
  (*input) (60,40).intensity = 98;
  (*input) (61,40).intensity = 99;
  (*input) (62,40).intensity = 98;
  (*input) (63,40).intensity = 98;
  (*input) (0,41).intensity = 121;
  (*input) (1,41).intensity = 120;
  (*input) (2,41).intensity = 119;
  (*input) (3,41).intensity = 119;
  (*input) (4,41).intensity = 117;
  (*input) (5,41).intensity = 118;
  (*input) (6,41).intensity = 116;
  (*input) (7,41).intensity = 115;
  (*input) (8,41).intensity = 116;
  (*input) (9,41).intensity = 114;
  (*input) (10,41).intensity = 114;
  (*input) (11,41).intensity = 111;
  (*input) (12,41).intensity = 112;
  (*input) (13,41).intensity = 111;
  (*input) (14,41).intensity = 109;
  (*input) (15,41).intensity = 108;
  (*input) (16,41).intensity = 108;
  (*input) (17,41).intensity = 107;
  (*input) (18,41).intensity = 107;
  (*input) (19,41).intensity = 107;
  (*input) (20,41).intensity = 107;
  (*input) (21,41).intensity = 107;
  (*input) (22,41).intensity = 106;
  (*input) (23,41).intensity = 105;
  (*input) (24,41).intensity = 104;
  (*input) (25,41).intensity = 105;
  (*input) (26,41).intensity = 104;
  (*input) (27,41).intensity = 105;
  (*input) (28,41).intensity = 105;
  (*input) (29,41).intensity = 104;
  (*input) (30,41).intensity = 105;
  (*input) (31,41).intensity = 104;
  (*input) (32,41).intensity = 105;
  (*input) (33,41).intensity = 104;
  (*input) (34,41).intensity = 104;
  (*input) (35,41).intensity = 103;
  (*input) (36,41).intensity = 102;
  (*input) (37,41).intensity = 103;
  (*input) (38,41).intensity = 102;
  (*input) (39,41).intensity = 102;
  (*input) (40,41).intensity = 102;
  (*input) (41,41).intensity = 101;
  (*input) (42,41).intensity = 104;
  (*input) (43,41).intensity = 103;
  (*input) (44,41).intensity = 102;
  (*input) (45,41).intensity = 101;
  (*input) (46,41).intensity = 103;
  (*input) (47,41).intensity = 101;
  (*input) (48,41).intensity = 102;
  (*input) (49,41).intensity = 101;
  (*input) (50,41).intensity = 102;
  (*input) (51,41).intensity = 100;
  (*input) (52,41).intensity = 100;
  (*input) (53,41).intensity = 99;
  (*input) (54,41).intensity = 99;
  (*input) (55,41).intensity = 99;
  (*input) (56,41).intensity = 98;
  (*input) (57,41).intensity = 99;
  (*input) (58,41).intensity = 99;
  (*input) (59,41).intensity = 97;
  (*input) (60,41).intensity = 98;
  (*input) (61,41).intensity = 99;
  (*input) (62,41).intensity = 98;
  (*input) (63,41).intensity = 98;
  (*input) (0,42).intensity = 121;
  (*input) (1,42).intensity = 122;
  (*input) (2,42).intensity = 119;
  (*input) (3,42).intensity = 119;
  (*input) (4,42).intensity = 118;
  (*input) (5,42).intensity = 118;
  (*input) (6,42).intensity = 116;
  (*input) (7,42).intensity = 116;
  (*input) (8,42).intensity = 117;
  (*input) (9,42).intensity = 114;
  (*input) (10,42).intensity = 115;
  (*input) (11,42).intensity = 113;
  (*input) (12,42).intensity = 114;
  (*input) (13,42).intensity = 112;
  (*input) (14,42).intensity = 109;
  (*input) (15,42).intensity = 109;
  (*input) (16,42).intensity = 109;
  (*input) (17,42).intensity = 106;
  (*input) (18,42).intensity = 107;
  (*input) (19,42).intensity = 105;
  (*input) (20,42).intensity = 108;
  (*input) (21,42).intensity = 106;
  (*input) (22,42).intensity = 107;
  (*input) (23,42).intensity = 106;
  (*input) (24,42).intensity = 105;
  (*input) (25,42).intensity = 104;
  (*input) (26,42).intensity = 103;
  (*input) (27,42).intensity = 105;
  (*input) (28,42).intensity = 105;
  (*input) (29,42).intensity = 104;
  (*input) (30,42).intensity = 105;
  (*input) (31,42).intensity = 103;
  (*input) (32,42).intensity = 104;
  (*input) (33,42).intensity = 104;
  (*input) (34,42).intensity = 105;
  (*input) (35,42).intensity = 106;
  (*input) (36,42).intensity = 102;
  (*input) (37,42).intensity = 104;
  (*input) (38,42).intensity = 104;
  (*input) (39,42).intensity = 102;
  (*input) (40,42).intensity = 104;
  (*input) (41,42).intensity = 102;
  (*input) (42,42).intensity = 105;
  (*input) (43,42).intensity = 103;
  (*input) (44,42).intensity = 102;
  (*input) (45,42).intensity = 103;
  (*input) (46,42).intensity = 102;
  (*input) (47,42).intensity = 100;
  (*input) (48,42).intensity = 102;
  (*input) (49,42).intensity = 101;
  (*input) (50,42).intensity = 103;
  (*input) (51,42).intensity = 100;
  (*input) (52,42).intensity = 100;
  (*input) (53,42).intensity = 99;
  (*input) (54,42).intensity = 99;
  (*input) (55,42).intensity = 100;
  (*input) (56,42).intensity = 99;
  (*input) (57,42).intensity = 100;
  (*input) (58,42).intensity = 98;
  (*input) (59,42).intensity = 98;
  (*input) (60,42).intensity = 99;
  (*input) (61,42).intensity = 101;
  (*input) (62,42).intensity = 99;
  (*input) (63,42).intensity = 98;
  (*input) (0,43).intensity = 122;
  (*input) (1,43).intensity = 120;
  (*input) (2,43).intensity = 119;
  (*input) (3,43).intensity = 120;
  (*input) (4,43).intensity = 119;
  (*input) (5,43).intensity = 118;
  (*input) (6,43).intensity = 118;
  (*input) (7,43).intensity = 117;
  (*input) (8,43).intensity = 117;
  (*input) (9,43).intensity = 116;
  (*input) (10,43).intensity = 114;
  (*input) (11,43).intensity = 113;
  (*input) (12,43).intensity = 114;
  (*input) (13,43).intensity = 112;
  (*input) (14,43).intensity = 111;
  (*input) (15,43).intensity = 110;
  (*input) (16,43).intensity = 110;
  (*input) (17,43).intensity = 107;
  (*input) (18,43).intensity = 108;
  (*input) (19,43).intensity = 106;
  (*input) (20,43).intensity = 109;
  (*input) (21,43).intensity = 107;
  (*input) (22,43).intensity = 107;
  (*input) (23,43).intensity = 106;
  (*input) (24,43).intensity = 106;
  (*input) (25,43).intensity = 105;
  (*input) (26,43).intensity = 106;
  (*input) (27,43).intensity = 106;
  (*input) (28,43).intensity = 105;
  (*input) (29,43).intensity = 105;
  (*input) (30,43).intensity = 104;
  (*input) (31,43).intensity = 104;
  (*input) (32,43).intensity = 104;
  (*input) (33,43).intensity = 104;
  (*input) (34,43).intensity = 105;
  (*input) (35,43).intensity = 106;
  (*input) (36,43).intensity = 103;
  (*input) (37,43).intensity = 105;
  (*input) (38,43).intensity = 105;
  (*input) (39,43).intensity = 105;
  (*input) (40,43).intensity = 105;
  (*input) (41,43).intensity = 102;
  (*input) (42,43).intensity = 105;
  (*input) (43,43).intensity = 103;
  (*input) (44,43).intensity = 102;
  (*input) (45,43).intensity = 103;
  (*input) (46,43).intensity = 103;
  (*input) (47,43).intensity = 102;
  (*input) (48,43).intensity = 103;
  (*input) (49,43).intensity = 102;
  (*input) (50,43).intensity = 103;
  (*input) (51,43).intensity = 100;
  (*input) (52,43).intensity = 101;
  (*input) (53,43).intensity = 100;
  (*input) (54,43).intensity = 99;
  (*input) (55,43).intensity = 100;
  (*input) (56,43).intensity = 100;
  (*input) (57,43).intensity = 100;
  (*input) (58,43).intensity = 98;
  (*input) (59,43).intensity = 98;
  (*input) (60,43).intensity = 99;
  (*input) (61,43).intensity = 100;
  (*input) (62,43).intensity = 99;
  (*input) (63,43).intensity = 98;
  (*input) (0,44).intensity = 123;
  (*input) (1,44).intensity = 122;
  (*input) (2,44).intensity = 120;
  (*input) (3,44).intensity = 121;
  (*input) (4,44).intensity = 120;
  (*input) (5,44).intensity = 118;
  (*input) (6,44).intensity = 118;
  (*input) (7,44).intensity = 118;
  (*input) (8,44).intensity = 117;
  (*input) (9,44).intensity = 118;
  (*input) (10,44).intensity = 114;
  (*input) (11,44).intensity = 115;
  (*input) (12,44).intensity = 115;
  (*input) (13,44).intensity = 113;
  (*input) (14,44).intensity = 112;
  (*input) (15,44).intensity = 110;
  (*input) (16,44).intensity = 110;
  (*input) (17,44).intensity = 108;
  (*input) (18,44).intensity = 109;
  (*input) (19,44).intensity = 106;
  (*input) (20,44).intensity = 109;
  (*input) (21,44).intensity = 106;
  (*input) (22,44).intensity = 107;
  (*input) (23,44).intensity = 106;
  (*input) (24,44).intensity = 107;
  (*input) (25,44).intensity = 106;
  (*input) (26,44).intensity = 106;
  (*input) (27,44).intensity = 106;
  (*input) (28,44).intensity = 105;
  (*input) (29,44).intensity = 106;
  (*input) (30,44).intensity = 103;
  (*input) (31,44).intensity = 103;
  (*input) (32,44).intensity = 105;
  (*input) (33,44).intensity = 105;
  (*input) (34,44).intensity = 105;
  (*input) (35,44).intensity = 106;
  (*input) (36,44).intensity = 104;
  (*input) (37,44).intensity = 105;
  (*input) (38,44).intensity = 105;
  (*input) (39,44).intensity = 105;
  (*input) (40,44).intensity = 105;
  (*input) (41,44).intensity = 104;
  (*input) (42,44).intensity = 106;
  (*input) (43,44).intensity = 103;
  (*input) (44,44).intensity = 103;
  (*input) (45,44).intensity = 106;
  (*input) (46,44).intensity = 103;
  (*input) (47,44).intensity = 102;
  (*input) (48,44).intensity = 102;
  (*input) (49,44).intensity = 103;
  (*input) (50,44).intensity = 103;
  (*input) (51,44).intensity = 101;
  (*input) (52,44).intensity = 101;
  (*input) (53,44).intensity = 100;
  (*input) (54,44).intensity = 100;
  (*input) (55,44).intensity = 102;
  (*input) (56,44).intensity = 101;
  (*input) (57,44).intensity = 101;
  (*input) (58,44).intensity = 99;
  (*input) (59,44).intensity = 99;
  (*input) (60,44).intensity = 99;
  (*input) (61,44).intensity = 100;
  (*input) (62,44).intensity = 99;
  (*input) (63,44).intensity = 98;
  (*input) (0,45).intensity = 123;
  (*input) (1,45).intensity = 122;
  (*input) (2,45).intensity = 121;
  (*input) (3,45).intensity = 122;
  (*input) (4,45).intensity = 121;
  (*input) (5,45).intensity = 118;
  (*input) (6,45).intensity = 120;
  (*input) (7,45).intensity = 118;
  (*input) (8,45).intensity = 118;
  (*input) (9,45).intensity = 118;
  (*input) (10,45).intensity = 115;
  (*input) (11,45).intensity = 114;
  (*input) (12,45).intensity = 115;
  (*input) (13,45).intensity = 114;
  (*input) (14,45).intensity = 113;
  (*input) (15,45).intensity = 111;
  (*input) (16,45).intensity = 111;
  (*input) (17,45).intensity = 110;
  (*input) (18,45).intensity = 111;
  (*input) (19,45).intensity = 107;
  (*input) (20,45).intensity = 108;
  (*input) (21,45).intensity = 108;
  (*input) (22,45).intensity = 107;
  (*input) (23,45).intensity = 108;
  (*input) (24,45).intensity = 108;
  (*input) (25,45).intensity = 107;
  (*input) (26,45).intensity = 107;
  (*input) (27,45).intensity = 106;
  (*input) (28,45).intensity = 105;
  (*input) (29,45).intensity = 106;
  (*input) (30,45).intensity = 105;
  (*input) (31,45).intensity = 103;
  (*input) (32,45).intensity = 106;
  (*input) (33,45).intensity = 104;
  (*input) (34,45).intensity = 105;
  (*input) (35,45).intensity = 105;
  (*input) (36,45).intensity = 105;
  (*input) (37,45).intensity = 103;
  (*input) (38,45).intensity = 103;
  (*input) (39,45).intensity = 105;
  (*input) (40,45).intensity = 105;
  (*input) (41,45).intensity = 105;
  (*input) (42,45).intensity = 105;
  (*input) (43,45).intensity = 105;
  (*input) (44,45).intensity = 104;
  (*input) (45,45).intensity = 105;
  (*input) (46,45).intensity = 103;
  (*input) (47,45).intensity = 105;
  (*input) (48,45).intensity = 103;
  (*input) (49,45).intensity = 103;
  (*input) (50,45).intensity = 103;
  (*input) (51,45).intensity = 101;
  (*input) (52,45).intensity = 102;
  (*input) (53,45).intensity = 102;
  (*input) (54,45).intensity = 101;
  (*input) (55,45).intensity = 102;
  (*input) (56,45).intensity = 101;
  (*input) (57,45).intensity = 101;
  (*input) (58,45).intensity = 100;
  (*input) (59,45).intensity = 101;
  (*input) (60,45).intensity = 100;
  (*input) (61,45).intensity = 99;
  (*input) (62,45).intensity = 99;
  (*input) (63,45).intensity = 99;
  (*input) (0,46).intensity = 124;
  (*input) (1,46).intensity = 122;
  (*input) (2,46).intensity = 123;
  (*input) (3,46).intensity = 121;
  (*input) (4,46).intensity = 122;
  (*input) (5,46).intensity = 120;
  (*input) (6,46).intensity = 119;
  (*input) (7,46).intensity = 118;
  (*input) (8,46).intensity = 118;
  (*input) (9,46).intensity = 118;
  (*input) (10,46).intensity = 117;
  (*input) (11,46).intensity = 115;
  (*input) (12,46).intensity = 116;
  (*input) (13,46).intensity = 114;
  (*input) (14,46).intensity = 115;
  (*input) (15,46).intensity = 112;
  (*input) (16,46).intensity = 111;
  (*input) (17,46).intensity = 112;
  (*input) (18,46).intensity = 112;
  (*input) (19,46).intensity = 109;
  (*input) (20,46).intensity = 108;
  (*input) (21,46).intensity = 108;
  (*input) (22,46).intensity = 109;
  (*input) (23,46).intensity = 108;
  (*input) (24,46).intensity = 109;
  (*input) (25,46).intensity = 107;
  (*input) (26,46).intensity = 107;
  (*input) (27,46).intensity = 106;
  (*input) (28,46).intensity = 105;
  (*input) (29,46).intensity = 107;
  (*input) (30,46).intensity = 105;
  (*input) (31,46).intensity = 103;
  (*input) (32,46).intensity = 106;
  (*input) (33,46).intensity = 105;
  (*input) (34,46).intensity = 106;
  (*input) (35,46).intensity = 105;
  (*input) (36,46).intensity = 106;
  (*input) (37,46).intensity = 103;
  (*input) (38,46).intensity = 103;
  (*input) (39,46).intensity = 106;
  (*input) (40,46).intensity = 103;
  (*input) (41,46).intensity = 105;
  (*input) (42,46).intensity = 104;
  (*input) (43,46).intensity = 104;
  (*input) (44,46).intensity = 106;
  (*input) (45,46).intensity = 105;
  (*input) (46,46).intensity = 103;
  (*input) (47,46).intensity = 104;
  (*input) (48,46).intensity = 104;
  (*input) (49,46).intensity = 103;
  (*input) (50,46).intensity = 104;
  (*input) (51,46).intensity = 102;
  (*input) (52,46).intensity = 101;
  (*input) (53,46).intensity = 102;
  (*input) (54,46).intensity = 102;
  (*input) (55,46).intensity = 103;
  (*input) (56,46).intensity = 102;
  (*input) (57,46).intensity = 102;
  (*input) (58,46).intensity = 103;
  (*input) (59,46).intensity = 101;
  (*input) (60,46).intensity = 100;
  (*input) (61,46).intensity = 100;
  (*input) (62,46).intensity = 102;
  (*input) (63,46).intensity = 100;
  (*input) (0,47).intensity = 123;
  (*input) (1,47).intensity = 122;
  (*input) (2,47).intensity = 122;
  (*input) (3,47).intensity = 122;
  (*input) (4,47).intensity = 122;
  (*input) (5,47).intensity = 120;
  (*input) (6,47).intensity = 120;
  (*input) (7,47).intensity = 119;
  (*input) (8,47).intensity = 120;
  (*input) (9,47).intensity = 118;
  (*input) (10,47).intensity = 118;
  (*input) (11,47).intensity = 117;
  (*input) (12,47).intensity = 116;
  (*input) (13,47).intensity = 116;
  (*input) (14,47).intensity = 116;
  (*input) (15,47).intensity = 114;
  (*input) (16,47).intensity = 113;
  (*input) (17,47).intensity = 114;
  (*input) (18,47).intensity = 112;
  (*input) (19,47).intensity = 109;
  (*input) (20,47).intensity = 109;
  (*input) (21,47).intensity = 109;
  (*input) (22,47).intensity = 108;
  (*input) (23,47).intensity = 109;
  (*input) (24,47).intensity = 109;
  (*input) (25,47).intensity = 107;
  (*input) (26,47).intensity = 107;
  (*input) (27,47).intensity = 107;
  (*input) (28,47).intensity = 106;
  (*input) (29,47).intensity = 107;
  (*input) (30,47).intensity = 107;
  (*input) (31,47).intensity = 105;
  (*input) (32,47).intensity = 106;
  (*input) (33,47).intensity = 105;
  (*input) (34,47).intensity = 106;
  (*input) (35,47).intensity = 105;
  (*input) (36,47).intensity = 107;
  (*input) (37,47).intensity = 104;
  (*input) (38,47).intensity = 104;
  (*input) (39,47).intensity = 106;
  (*input) (40,47).intensity = 104;
  (*input) (41,47).intensity = 102;
  (*input) (42,47).intensity = 105;
  (*input) (43,47).intensity = 104;
  (*input) (44,47).intensity = 105;
  (*input) (45,47).intensity = 105;
  (*input) (46,47).intensity = 104;
  (*input) (47,47).intensity = 103;
  (*input) (48,47).intensity = 105;
  (*input) (49,47).intensity = 103;
  (*input) (50,47).intensity = 105;
  (*input) (51,47).intensity = 102;
  (*input) (52,47).intensity = 101;
  (*input) (53,47).intensity = 103;
  (*input) (54,47).intensity = 104;
  (*input) (55,47).intensity = 104;
  (*input) (56,47).intensity = 102;
  (*input) (57,47).intensity = 101;
  (*input) (58,47).intensity = 101;
  (*input) (59,47).intensity = 100;
  (*input) (60,47).intensity = 101;
  (*input) (61,47).intensity = 100;
  (*input) (62,47).intensity = 98;
  (*input) (63,47).intensity = 96;
  testing::InitGoogleTest (&argc, argv);
  return (RUN_ALL_TESTS ());
}