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00040 #include <gtest/gtest.h>
00041 #include <pcl/pcl_tests.h>
00042 #include <pcl/point_types.h>
00043 #include <pcl/point_cloud.h>
00044 #include <pcl/point_types_conversion.h>
00045 #include <iomanip>
00046 #include <iostream>
00047
00048 using namespace pcl;
00049 using namespace pcl::test;
00050
00051 TEST (PointTypeConversions, PointXYZRGBtoPointXYZHSV)
00052 {
00053 pcl::PointXYZRGB rgb;
00054 rgb.r = 0; rgb.g = 0; rgb.b = 0;
00055
00056 pcl::PointXYZHSV hsv;
00057 pcl::PointXYZRGBtoXYZHSV (rgb, hsv);
00058
00059 EXPECT_EQ (hsv.h, 0);
00060 EXPECT_EQ (hsv.s, 0);
00061 EXPECT_EQ (hsv.v, 0);
00062
00063 rgb.r = 100; rgb.g = 100; rgb.b = 100;
00064
00065 pcl::PointXYZRGBtoXYZHSV (rgb, hsv);
00066
00067 EXPECT_EQ (hsv.h, 0);
00068 EXPECT_EQ (hsv.s, 0);
00069 EXPECT_NEAR (hsv.v, 0.392157, 1e-4);
00070
00071 rgb.r = 255; rgb.g = 255; rgb.b = 255;
00072
00073 pcl::PointXYZRGBtoXYZHSV (rgb, hsv);
00074
00075 EXPECT_EQ (hsv.h, 0);
00076 EXPECT_EQ (hsv.s, 0);
00077 EXPECT_EQ (hsv.v, 1);
00078
00079 rgb.r = 240; rgb.g = 90; rgb.b = 250;
00080
00081 pcl::PointXYZRGBtoXYZHSV (rgb, hsv);
00082
00083 EXPECT_NEAR (hsv.h, 296.25, 1e-2);
00084 EXPECT_NEAR (hsv.s, 0.64, 1e-2);
00085 EXPECT_NEAR (hsv.v, 0.980392, 1e-2);
00086 }
00087
00088 int
00089 main (int argc, char** argv)
00090 {
00091 testing::InitGoogleTest (&argc, argv);
00092 return (RUN_ALL_TESTS ());
00093 }