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/** \author Nizar Sallem */

#include <gtest/gtest.h>
#include <pcl/common/pca.h>
#include <pcl/point_types.h>
#include <pcl/pcl_tests.h>

using namespace pcl::test;

pcl::PointCloud<pcl::PointXYZ> cloud;
pcl::PCA<pcl::PointXYZ> pca;

TEST(PCA, projection)
{
  pcl::PointXYZ projected, reconstructed;
  for(size_t i = 0; i < cloud.size(); i++)
  {
    pca.project (cloud[i], projected);
    pca.reconstruct (projected, reconstructed);
    EXPECT_NEAR_VECTORS (reconstructed.getVector3fMap (), cloud[i].getVector3fMap (), 2.5e-4);
  }
}

TEST(PCA, copy_constructor)
{
  // Test copy constructor
  pcl::PCA<pcl::PointXYZ> pca_copy(pca);
  try
  {
    Eigen::Matrix3f eigen_vectors_copy = pca_copy.getEigenVectors ();
    Eigen::Matrix3f eigen_vectors = pca.getEigenVectors ();
    for(size_t i = 0; i < 3; ++i)
      for(size_t j = 0; j < 3; ++j)
        EXPECT_EQ (eigen_vectors (i,j), eigen_vectors_copy (i,j));
  }
  catch (pcl::InitFailedException &/*e*/)
  {
    std::cerr << "something wrong" << std::endl;
  }
}

TEST(PCA, cloud_projection)
{
  pcl::PointCloud<pcl::PointXYZ> cloud_projected, cloud_reconstructed;
  try
  {
    pca.project (cloud, cloud_projected);
    EXPECT_EQ (cloud.size (), cloud_projected.size ());
    pca.reconstruct (cloud_projected, cloud_reconstructed);
    EXPECT_EQ (cloud_reconstructed.size (), cloud_projected.size ());
    for(size_t i = 0; i < cloud.size(); i++)
      EXPECT_NEAR_VECTORS (cloud[i].getVector3fMap (),
                           cloud_reconstructed[i].getVector3fMap (),
                           2.5e-4);
  }
  catch (pcl::InitFailedException &/*e*/)
  {
    std::cerr << "something wrong" << std::endl;
  }
}

int main (int argc, char** argv)
{
  cloud.width = 5;
  cloud.height = 4 ;
  cloud.is_dense = true;
  cloud.resize(20);
  cloud[0].x = 100;   cloud[0].y = 8;    cloud[0].z = 5;
  cloud[1].x = 228;   cloud[1].y = 21;   cloud[1].z = 2;
  cloud[2].x = 341;   cloud[2].y = 31;   cloud[2].z = 10;
  cloud[3].x = 472;   cloud[3].y = 40;   cloud[3].z = 15;
  cloud[4].x = 578;   cloud[4].y = 48;   cloud[4].z = 3;
  cloud[5].x = 699;   cloud[5].y = 60;   cloud[5].z = 12;
  cloud[6].x = 807;   cloud[6].y = 71;   cloud[6].z = 14;
  cloud[7].x = 929;   cloud[7].y = 79;   cloud[7].z = 16;
  cloud[8].x = 1040;  cloud[8].y = 92;   cloud[8].z = 18;
  cloud[9].x = 1160;  cloud[9].y = 101;  cloud[9].z = 38;
  cloud[10].x = 1262; cloud[10].y = 109; cloud[10].z = 28;
  cloud[11].x = 1376; cloud[11].y = 121; cloud[11].z = 32;
  cloud[12].x = 1499; cloud[12].y = 128; cloud[12].z = 35;
  cloud[13].x = 1620; cloud[13].y = 143; cloud[13].z = 28;
  cloud[14].x = 1722; cloud[14].y = 150; cloud[14].z = 30;
  cloud[15].x = 1833; cloud[15].y = 159; cloud[15].z = 15;
  cloud[16].x = 1948; cloud[16].y = 172; cloud[16].z = 12;
  cloud[17].x = 2077; cloud[17].y = 181; cloud[17].z = 33;
  cloud[18].x = 2282; cloud[18].y = 190; cloud[18].z = 23;
  cloud[19].x = 2999; cloud[19].y = 202; cloud[19].z = 29;  

  pca.setInputCloud (cloud.makeShared ());

  testing::InitGoogleTest (&argc, argv);
  return (RUN_ALL_TESTS ());
}
