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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2012, Willow Garage, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id$
*
*/
#include <pcl/test/gtest.h>
#include <pcl/pcl_tests.h>
#include <pcl/point_types.h>
#include <pcl/common/intensity.h>
using namespace pcl;
using namespace pcl::test;
TEST (PointOperators, PointXYZRGBtoIntensity)
{
using namespace pcl::common;
IntensityFieldAccessor <PointXYZRGB> convert;
PointXYZRGB p1; p1.x = 0.05f; p1.y = 0.05f; p1.z = 0.05f; p1.r = 0; p1.g = 127; p1.b = 127;
float p2 = 0.1f * convert (p1);
EXPECT_NEAR (p2, 0.1 * static_cast<float> (299*p1.r + 587*p1.g + 114*p1.b)/1000.0f, 1e-4);
}
TEST (PointOperators, PointXYZRGBtoPointXYZI)
{
using namespace pcl::common;
IntensityFieldAccessor <PointXYZRGB> rgb_intensity;
IntensityFieldAccessor <PointXYZI> intensity;
PointXYZRGB p0; p0.x = 0.1f; p0.y = 0.2f; p0.z = 0.3f; p0.r = 0; p0.g = 127; p0.b = 127;
PointXYZRGB p1; p1.x = 0.05f; p1.y = 0.05f; p1.z = 0.05f; p1.r = 0; p1.g = 127; p1.b = 127;
float value = rgb_intensity (p0 + p1);
PointXYZI p2;
intensity.set (p2, value);
// Disabled. Doesn't make any sense
//EXPECT_EQ (p2.intensity, static_cast<float> (299*p0.r + 587*p0.g + 114*p0.b)/1000.0f + static_cast<float> (299*p1.r + 587*p1.g + 114*p1.b)/1000.0f);
intensity.set (p2, rgb_intensity (p1) * 0.1f);
EXPECT_NEAR (p2.intensity, static_cast<float> (299*p1.r + 587*p1.g + 114*p1.b) / 1000.0f * 0.1, 1e-4);
}
int
main (int argc, char** argv)
{
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}
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