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 *  Point Cloud Library (PCL) - www.pointclouds.org
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#include <pcl/test/gtest.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/pcl_tests.h>

using namespace pcl;
using namespace pcl::test;

PointCloud<PointXYZ> cloud;
constexpr std::size_t size = 10 * 480;

TEST (PointCloud, size)
{
  EXPECT_EQ(cloud.size (), cloud.size ());
}

TEST (PointCloud, sq_brackets_wrapper)
{
  for (std::uint32_t i = 0; i < size; ++i)
    EXPECT_EQ_VECTORS (cloud[i].getVector3fMap (),
                       cloud[i].getVector3fMap ());
}

TEST (PointCloud, at)
{
  for (std::uint32_t i = 0; i < size; ++i)
    EXPECT_EQ_VECTORS (cloud.at (i).getVector3fMap (),
                       cloud.at (i).getVector3fMap ());
}

TEST (PointCloud, front)
{
  EXPECT_EQ_VECTORS (cloud.front ().getVector3fMap (),
                     cloud.front ().getVector3fMap ());
}

TEST (PointCloud, back)
{
  EXPECT_EQ_VECTORS (cloud.back ().getVector3fMap (),
                     cloud.back ().getVector3fMap ());
}

TEST (PointCloud, constructor_with_allocation)
{
  PointCloud<PointXYZ> cloud2 (5, 80);
  EXPECT_EQ (cloud2.width, 5);
  EXPECT_EQ (cloud2.height, 80);
  EXPECT_EQ (cloud2.size (), 5*80);
}

TEST (PointCloud, constructor_with_allocation_valued)
{
  PointXYZ nan_point (0.1f, 0.2f, 0.3f);
  PointCloud<PointXYZ> cloud2 (5, 80, nan_point);
  EXPECT_EQ (cloud2.width, 5);
  EXPECT_EQ (cloud2.height, 80);
  EXPECT_EQ (cloud2.size (), 5*80);
  for (const auto& point : cloud2)
  {
    EXPECT_NEAR (point.x, 0.1, 1e-3);
    EXPECT_NEAR (point.y, 0.2, 1e-3);
    EXPECT_NEAR (point.z, 0.3, 1e-3);
  }
}

TEST (PointCloud, iterators)
{
  EXPECT_EQ_VECTORS (cloud.begin ()->getVector3fMap (),
                     cloud.begin ()->getVector3fMap ());
  EXPECT_EQ_VECTORS ((--cloud.end ())->getVector3fMap (),
                     (--cloud.end ())->getVector3fMap ());
  PointCloud<PointXYZ>::const_iterator pit = cloud.begin ();
  PointCloud<PointXYZ>::VectorType::const_iterator pit2 = cloud.begin ();
  for (; pit < cloud.end (); ++pit2, ++pit)
    EXPECT_EQ_VECTORS (pit->getVector3fMap (), pit2->getVector3fMap ());
}

TEST (PointCloud, insert_range)
{
  PointCloud<PointXYZ> cloud2 (10, 1);
  for (std::uint32_t i = 0; i < 10; ++i)
    cloud2[i] = PointXYZ (5.0f * static_cast<float>(i) + 0, 5.0f * static_cast<float> (i) + 1, 5.0f * static_cast<float> (i) + 2);

  auto old_size = static_cast<std::uint32_t> (cloud.size ());
  cloud.insert (cloud.begin (), cloud2.begin (), cloud2.end ());
  EXPECT_EQ (cloud.width, cloud.size ());
  EXPECT_EQ (cloud.height, 1);
  EXPECT_EQ (cloud.width, old_size + cloud2.size ());
  PointCloud<PointXYZ>::const_iterator pit = cloud.begin ();
  PointCloud<PointXYZ>::const_iterator pit2 = cloud2.begin ();
  for (; pit2 < cloud2.end (); ++pit2, ++pit)
    EXPECT_EQ_VECTORS (pit->getVector3fMap (), pit2->getVector3fMap ());
}

int
main (int argc, char** argv)
{
  cloud.width = 10;
  cloud.height = 480;
  for (std::uint32_t i = 0; i < size; ++i)
    cloud.emplace_back(3.0f * static_cast<float>(i) + 0, 3.0f * static_cast<float> (i) + 1, 3.0f * static_cast<float> (i) + 2);

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