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 * $Id: test_intensity.cpp 5299 2012-03-26 03:27:10Z svn $
 *
 */

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

using namespace pcl;
using namespace pcl::test;

TEST (PointOperators, PointXYZRGBtoIntensity)
{
  using namespace pcl::common;
  IntensityFieldAccessor <PointXYZRGB> convert;
  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 p2 = convert (p0 + p1);
  EXPECT_EQ (p2, 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);
  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);

  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);
  value = rgb_intensity (p1);
  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 ());
}
