/*
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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2009-2012, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
 *  Copyright (c) 2014, RadiantBlue Technologies, Inc.
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 * $Id$
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 */

#include <gtest/gtest.h>
#include <pcl/filters/grid_minimum.h>
#include <pcl/point_types.h>

using namespace pcl;

PointCloud<PointXYZ> cloud;

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (Grid, Minimum)
{
  PointCloud<PointXYZ> cloud_in, cloud_out;

  cloud_in.height = 1;
  cloud_in.width = 3;
  cloud_in.is_dense = true;
  cloud_in.resize (3);

  cloud_in[0].x = 0; cloud_in[0].y = 0; cloud_in[0].z = 0.25;
  cloud_in[1].x = 0.5; cloud_in[1].y = 0.5; cloud_in[1].z = 1;
  cloud_in[2].x = 1.5; cloud_in[2].y = 1.5; cloud_in[2].z = 0.0;

  GridMinimum<PointXYZ> gm (1.0f);
  gm.setInputCloud (cloud_in.makeShared ());
  gm.filter (cloud_out);

  EXPECT_EQ (cloud_out[0].z, 0.25f);
  EXPECT_EQ (cloud_out[1].z, 0.0f);
  EXPECT_EQ (cloud_out.size (), 2);
  EXPECT_EQ (gm.getResolution (), 1.0f);

  gm.setResolution (2.0f);
  gm.filter (cloud_out);

  EXPECT_EQ (cloud_out[0].z, 0.0f);
  EXPECT_EQ (cloud_out.size (), 1);
  EXPECT_EQ (gm.getResolution (), 2.0f);
}

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

