From c5c16e6ffebdb2214b3dbcf23c578457a0e778f6 Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Sun, 14 Feb 2021 09:25:54 +0100
Subject: [PATCH] added gtest for scan2scanFALKO
---
src/loop_closure_base_2d.cpp | 19 +++++++------
src/loop_closure_base_2d.h | 4 +--
test/CMakeLists.txt | 11 +++++++-
test/gtest_loop_closure_base_2d.cpp | 41 +++++++++++++++++++++++++++++
test/testData2.cpp | 23 ++++++++++++++++
test/testData2.h | 28 ++++++++++++++++++++
6 files changed, 113 insertions(+), 13 deletions(-)
create mode 100644 test/gtest_loop_closure_base_2d.cpp
create mode 100644 test/testData2.cpp
create mode 100644 test/testData2.h
diff --git a/src/loop_closure_base_2d.cpp b/src/loop_closure_base_2d.cpp
index 37d3b0e..bc79c6b 100644
--- a/src/loop_closure_base_2d.cpp
+++ b/src/loop_closure_base_2d.cpp
@@ -9,22 +9,21 @@
namespace laserscanutils{
- std::shared_ptr<cornerScene> loopClosureBase2d::extractScene(LaserScan &scan,LaserScanParams &scanParams){
-
+ loopClosureBase2d::loopClosureBase2d(){}
+ loopClosureBase2d::~loopClosureBase2d(){}
+ std::shared_ptr<cornerScene> loopClosureBase2d::extractScene(LaserScan &scan,LaserScanParams &scanParams){
std::shared_ptr<cornerScene> NewScene;
return NewScene;
}
-/*
+
std::shared_ptr<falkolib::LaserScan> loopClosureBase2d::convert2LaserScanFALKO(LaserScan &scan,LaserScanParams &scanParams){
- //falkolib::laserScan scanFALKO=std::make_shared<falkolib::LaserScan>(scanParams.angle_min_, scanParams.angle_max_, scan.ranges_raw_.size());
- //std::make_shared<falkolib::LaserScan> scanFALKO(scanParams.angle_min_, scanParams.angle_max_, scan.ranges_raw_.size());
- //std::vector<double> doubleRanges(scan.ranges_raw_.begin(), scan.ranges_raw_.end());
- //scanFALKO.fromRanges(doubleRanges);
- std::shared_ptr<falkolib::LaserScan> scanFALKO(scanParams.angle_min_, scanParams.angle_max_, scan.ranges_raw_.size());
+ auto scanFALKO=std::make_shared<falkolib::LaserScan>(scanParams.angle_min_, scanParams.angle_max_, scan.ranges_raw_.size());
+ std::vector<double> doubleRanges(scan.ranges_raw_.begin(), scan.ranges_raw_.end());
+ ((*scanFALKO).fromRanges)(doubleRanges);
return scanFALKO;
}
-*/
-}
\ No newline at end of file
+
+}
diff --git a/src/loop_closure_base_2d.h b/src/loop_closure_base_2d.h
index 96bc952..3a2dfd1 100644
--- a/src/loop_closure_base_2d.h
+++ b/src/loop_closure_base_2d.h
@@ -51,7 +51,7 @@ public:
/** \brief compare new scans against the trained set in order to find loop closures
**/
- virtual void findLoopClosure(std::list<cornerScene>& scenes, const cornerScene newScene);
+ //virtual void findLoopClosure(std::list<cornerScene>& scenes, const cornerScene newScene);
/** \brief update the scene struct with keypoints and descriptors
**/
@@ -65,4 +65,4 @@ public:
};
} /* namespace laserscanutils */
-#endif /* LOOP_CLOSURE_BASE_2D_H_ */
\ No newline at end of file
+#endif /* LOOP_CLOSURE_BASE_2D_H_ */
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 6cd8581..386aea8 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -4,6 +4,12 @@ add_subdirectory(gtest)
# Include gtest directory.
include_directories(${GTEST_INCLUDE_DIRS})
+#Include directories
+INCLUDE_DIRECTORIES(../src)
+INCLUDE_DIRECTORIES(../test)
+FIND_PACKAGE(Eigen3 3.3 REQUIRED)
+INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIRS})
+
############# USE THIS TEST AS AN EXAMPLE ####################
# #
# Create a specific test executable for gtest_example #
@@ -14,4 +20,7 @@ include_directories(${GTEST_INCLUDE_DIRS})
# gtest example
gnss_utils_add_gtest(gtest_example gtest_example.cpp)
-target_link_libraries(gtest_example ${PROJECT_NAME})
\ No newline at end of file
+target_link_libraries(gtest_example ${PROJECT_NAME})
+
+gnss_utils_add_gtest(gtest_loop_closure_base_2d gtest_loop_closure_base_2d.cpp ${PROJECT_SOURCE_DIR}/test/testData2.cpp)
+target_link_libraries(gtest_loop_closure_base_2d ${PROJECT_NAME})
diff --git a/test/gtest_loop_closure_base_2d.cpp b/test/gtest_loop_closure_base_2d.cpp
new file mode 100644
index 0000000..d60cab9
--- /dev/null
+++ b/test/gtest_loop_closure_base_2d.cpp
@@ -0,0 +1,41 @@
+#include "gtest/utils_gtest.h"
+#include "testData2.h"
+#include "../src/loop_closure_base_2d.h"
+//#include "laser_scan_utils.h"
+
+using namespace laserscanutils;
+
+TEST(loop_closure_base_2d, convert2laserScanFalko)
+{
+ int scanSize = 1440;
+
+ LaserScan scan;
+ LaserScanParams laserParams;
+
+ laserParams.angle_min_=0;
+ laserParams.angle_max_=2.0 * M_PI;
+
+ for (int i=0; i<scanSize; i++) {
+ scan.ranges_raw_.push_back(testRanges1[i]);
+ }
+
+ loopClosureBase2d LCBase;
+
+ std::shared_ptr<falkolib::LaserScan> scanFALKO=LCBase.convert2LaserScanFALKO(scan, laserParams);
+
+ int firstPoint = ((*scanFALKO).ranges)[0];
+
+ EXPECT_FALSE(false);
+
+ ASSERT_TRUE(true);
+
+ ASSERT_EQ(firstPoint, 250);
+
+// PRINTF("All good at TestTest::DummyTestExample !\n");
+}
+
+int main(int argc, char **argv)
+{
+ testing::InitGoogleTest(&argc, argv);
+ return RUN_ALL_TESTS();
+}
diff --git a/test/testData2.cpp b/test/testData2.cpp
new file mode 100644
index 0000000..f71191c
--- /dev/null
+++ b/test/testData2.cpp
@@ -0,0 +1,23 @@
+/**
+ * FALKOLib - Fast Adaptive Laser Keypoint Orientation-invariant
+ * Copyright (C) 2016 Fabjan Kallasi and Dario Lodi Rizzini.
+ *
+ * This file is part of FALKOLib.
+ *
+ * FALKOLib is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * FALKOLib is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with FALKOLib. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+ double testRanges1[]= {250, 250, 250, 250, 250, 17.263999938964844, 17.263999938964844, 17.263999938964844, 17.263999938964844, 13.552000045776367, 13.552000045776367, 13.552000045776367, 12.95199966430664, 12.95199966430664, 12.95199966430664, 12.95199966430664, 12.51200008392334, 11.567999839782715, 11.567999839782715, 10.720000267028809, 10.720000267028809, 10.720000267028809, 10.359999656677246, 10.336000442504883, 10.343999862670898, 10.35200023651123, 10.35200023651123, 10.32800006866455, 10.319999694824219, 10.383999824523926, 10.407999992370605, 10.432000160217285, 10.432000160217285, 10.447999954223633, 10.46399974822998, 10.46399974822998, 10.503999710083008, 10.503999710083008, 10.527999877929688, 10.592000007629395, 10.62399959564209, 8.368000030517578, 8.343999862670898, 8.343999862670898, 8.031999588012695, 7.831999778747559, 7.6479997634887695, 7.552000045776367, 7.415999889373779, 7.415999889373779, 7.263999938964844, 7.144000053405762, 7.0320000648498535, 6.920000076293945, 6.776000022888184, 6.776000022888184, 6.671999931335449, 6.576000213623047, 6.440000057220459, 6.328000068664551, 6.271999835968018, 6.271999835968018, 6.263999938964844, 6.271999835968018, 6.296000003814697, 6.320000171661377, 6.328000068664551, 6.328000068664551, 6.335999965667725, 6.320000171661377, 3.187999963760376, 3.187999963760376, 4.495999813079834, 4.495999813079834, 4.495999813079834, 4.495999813079834, 4.504000186920166, 4.504000186920166, 4.504000186920166, 4.544000148773193, 4.544000148773193, 4.544000148773193, 4.544000148773193, 4.51200008392334, 4.51200008392334, 4.51200008392334, 4.51200008392334, 4.599999904632568, 4.576000213623047, 4.495999813079834, 4.455999851226807, 4.455999851226807, 4.455999851226807, 4.455999851226807, 4.4079999923706055, 4.368000030517578, 4.320000171661377, 4.271999835968018, 4.271999835968018, 4.223999977111816, 4.184000015258789, 4.168000221252441, 4.159999847412109, 4.168000221252441, 4.176000118255615, 4.176000118255615, 4.184000015258789, 4.199999809265137, 4.199999809265137, 4.208000183105469, 4.216000080108643, 4.216000080108643, 4.223999977111816, 4.23199987411499, 4.23199987411499, 4.176000118255615, 250, 250, 4.111999988555908, 4.111999988555908, 4.111999988555908, 4.111999988555908, 4.099999904632568, 4.099999904632568, 4.099999904632568, 4.079999923706055, 4.0320000648498535, 3.98799991607666, 3.9719998836517334, 3.9719998836517334, 3.9560000896453857, 3.9240000247955322, 3.888000011444092, 3.859999895095825, 3.8320000171661377, 3.8320000171661377, 3.803999900817871, 3.7880001068115234, 3.259999990463257, 3.240000009536743, 3.2200000286102295, 3.2200000286102295, 3.200000047683716, 3.1760001182556152, 3.1559998989105225, 3.1440000534057617, 3.128000020980835, 3.128000020980835, 3.119999885559082, 2.5959999561309814, 2.5959999561309814, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 2.4839999675750732, 2.4839999675750732, 2.4839999675750732, 2.4839999675750732, 2.496000051498413, 2.5320000648498535, 250, 2.624000072479248, 2.624000072479248, 2.624000072479248, 2.624000072479248, 250, 250, 250, 250, 250, 250, 250, 2.6679999828338623, 2.6679999828338623, 2.6679999828338623, 2.6679999828338623, 2.640000104904175, 2.640000104904175, 2.640000104904175, 2.628000020980835, 2.615999937057495, 2.615999937057495, 2.6080000400543213, 2.5959999561309814, 2.5880000591278076, 2.5759999752044678, 2.563999891281128, 2.563999891281128, 2.555999994277954, 2.5439999103546143, 2.5320000648498535, 2.5199999809265137, 2.51200008392334, 2.51200008392334, 2.503999948501587, 2.492000102996826, 2.4839999675750732, 2.4719998836517334, 2.4639999866485596, 2.4639999866485596, 2.4600000381469727, 2.4519999027252197, 2.440000057220459, 2.431999921798706, 2.4200000762939453, 2.4200000762939453, 2.4159998893737793, 2.4079999923706055, 2.4079999923706055, 2.427999973297119, 2.444000005722046, 2.444000005722046, 2.4600000381469727, 2.4719998836517334, 2.48799991607666, 2.5, 2.5160000324249268, 2.5160000324249268, 2.5280001163482666, 2.5399999618530273, 2.559999942779541, 2.5799999237060547, 2.5840001106262207, 2.5840001106262207, 3.0480000972747803, 3.0480000972747803, 2.631999969482422, 2.631999969482422, 2.631999969482422, 2.624000072479248, 2.624000072479248, 2.624000072479248, 2.624000072479248, 2.615999937057495, 2.611999988555908, 2.6040000915527344, 2.6040000915527344, 2.5959999561309814, 2.5920000076293945, 2.5840001106262207, 2.5759999752044678, 2.572000026702881, 2.572000026702881, 2.563999891281128, 2.555999994277954, 2.5480000972747803, 2.5439999103546143, 2.5399999618530273, 2.5399999618530273, 2.5360000133514404, 2.5320000648498535, 2.5239999294281006, 2.5199999809265137, 2.507999897003174, 2.507999897003174, 2.503999948501587, 2.5, 2.496000051498413, 2.492000102996826, 2.48799991607666, 2.48799991607666, 2.4800000190734863, 2.4760000705718994, 2.4719998836517334, 2.4679999351501465, 2.4639999866485596, 2.4560000896453857, 2.4560000896453857, 2.4519999027252197, 2.447999954223633, 2.447999954223633, 2.444000005722046, 2.436000108718872, 2.436000108718872, 2.431999921798706, 2.427999973297119, 2.4240000247955322, 2.4240000247955322, 2.4200000762939453, 2.4200000762939453, 2.4159998893737793, 2.4079999923706055, 2.4040000438690186, 2.4040000438690186, 2.4000000953674316, 2.4000000953674316, 2.3959999084472656, 2.3919999599456787, 2.3919999599456787, 2.388000011444092, 2.384000062942505, 2.384000062942505, 2.380000114440918, 2.375999927520752, 2.371999979019165, 2.371999979019165, 2.368000030517578, 2.364000082015991, 2.364000082015991, 2.364000082015991, 2.364000082015991, 2.359999895095825, 2.3559999465942383, 2.3559999465942383, 2.3559999465942383, 2.6600000858306885, 2.6600000858306885, 2.6600000858306885, 2.003999948501587, 2.003999948501587, 2.003999948501587, 2.003999948501587, 2.003999948501587, 2.003999948501587, 2.003999948501587, 2.0, 2.0, 2.0, 2.0, 1.9980000257492065, 1.9980000257492065, 1.9980000257492065, 1.9980000257492065, 1.996000051498413, 1.996000051498413, 1.996000051498413, 1.99399995803833, 1.9919999837875366, 1.996000051498413, 1.996000051498413, 1.996000051498413, 1.996000051498413, 1.996000051498413, 1.99399995803833, 2.0, 2.0, 2.009999990463257, 2.0220000743865967, 2.0460000038146973, 2.0460000038146973, 2.0260000228881836, 2.0260000228881836, 2.00600004196167, 1.996000051498413, 1.99399995803833, 1.9900000095367432, 1.9919999837875366, 1.9919999837875366, 1.996000051498413, 1.9980000257492065, 1.99399995803833, 1.9919999837875366, 1.9919999837875366, 1.9919999837875366, 1.99399995803833, 1.99399995803833, 1.996000051498413, 1.9980000257492065, 1.9980000257492065, 1.9980000257492065, 1.9980000257492065, 2.0, 2.0, 1.9980000257492065, 1.9980000257492065, 1.9919999837875366, 1.9520000219345093, 2.0320000648498535, 2.0999999046325684, 2.1040000915527344, 2.1040000915527344, 2.0280001163482666, 1.9040000438690186, 1.9279999732971191, 1.9520000219345093, 1.9559999704360962, 1.9559999704360962, 1.9600000381469727, 1.9579999446868896, 1.9600000381469727, 1.9620000123977661, 1.9639999866485596, 1.9639999866485596, 1.965999960899353, 1.965999960899353, 1.968000054359436, 1.972000002861023, 1.9759999513626099, 1.9759999513626099, 1.9759999513626099, 1.9759999513626099, 1.9800000190734863, 1.9839999675750732, 1.9800000190734863, 1.9800000190734863, 1.9819999933242798, 1.9880000352859497, 1.996000051498413, 2.009999990463257, 2.00600004196167, 2.00600004196167, 1.99399995803833, 2.687999963760376, 2.687999963760376, 2.687999963760376, 1.74399995803833, 1.74399995803833, 2.063999891281128, 2.115999937057495, 2.196000099182129, 2.191999912261963, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 2.5280001163482666, 2.5280001163482666, 2.5280001163482666, 2.5280001163482666, 2.5199999809265137, 2.5239999294281006, 2.5239999294281006, 2.5239999294281006, 2.5239999294281006, 2.5239999294281006, 2.5280001163482666, 2.5280001163482666, 2.5239999294281006, 2.5239999294281006, 2.5239999294281006, 2.5239999294281006, 2.5239999294281006, 2.5239999294281006, 2.5239999294281006, 2.5239999294281006, 2.5239999294281006, 2.5280001163482666, 2.5239999294281006, 2.5280001163482666, 2.5280001163482666, 2.5280001163482666, 2.5280001163482666, 2.5280001163482666, 2.5320000648498535, 2.5320000648498535, 2.5320000648498535, 2.5320000648498535, 2.5320000648498535, 2.5320000648498535, 2.5360000133514404, 2.5399999618530273, 2.5480000972747803, 2.5480000972747803, 2.5480000972747803, 2.5399999618530273, 2.5439999103546143, 2.552000045776367, 2.555999994277954, 2.555999994277954, 2.552000045776367, 2.5480000972747803, 250, 1.3179999589920044, 1.3179999589920044, 1.3179999589920044, 1.3179999589920044, 1.3079999685287476, 1.2999999523162842, 1.2940000295639038, 1.2940000295639038, 1.2879999876022339, 1.2860000133514404, 1.2940000295639038, 1.3040000200271606, 1.3040000200271606, 1.3040000200271606, 1.2999999523162842, 1.2979999780654907, 1.3020000457763672, 1.309999942779541, 1.3140000104904175, 1.3140000104904175, 1.3140000104904175, 1.3240000009536743, 1.3359999656677246, 1.3420000076293945, 1.343999981880188, 1.343999981880188, 1.2200000286102295, 250, 250, 250, 250, 250, 1.093999981880188, 1.093999981880188, 1.093999981880188, 1.093999981880188, 1.090000033378601, 1.090000033378601, 1.0920000076293945, 1.0980000495910645, 1.0980000495910645, 1.100000023841858, 1.100000023841858, 1.100000023841858, 1.100000023841858, 1.0980000495910645, 1.0980000495910645, 1.0980000495910645, 1.0959999561309814, 1.093999981880188, 1.093999981880188, 1.093999981880188, 1.093999981880188, 1.093999981880188, 1.0920000076293945, 1.093999981880188, 1.093999981880188, 1.093999981880188, 1.1019999980926514, 1.1119999885559082, 1.121999979019165, 1.1260000467300415, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 5.791999816894531, 5.791999816894531, 5.791999816894531, 5.791999816894531, 5.776000022888184, 5.776000022888184, 5.776000022888184, 5.751999855041504, 5.751999855041504, 5.751999855041504, 5.751999855041504, 5.751999855041504, 5.736000061035156, 5.679999828338623, 5.671999931335449, 5.671999931335449, 5.631999969482422, 5.631999969482422, 5.552000045776367, 5.552000045776367, 5.552000045776367, 5.552000045776367, 5.559999942779541, 5.584000110626221, 6.104000091552734, 6.783999919891357, 6.831999778747559, 6.831999778747559, 6.831999778747559, 6.760000228881836, 6.616000175476074, 6.455999851226807, 6.343999862670898, 6.343999862670898, 6.320000171661377, 6.311999797821045, 9.192000389099121, 9.175999641418457, 9.15999984741211, 9.15999984741211, 9.128000259399414, 9.119999885559082, 7.992000102996826, 7.9120001792907715, 7.8480000495910645, 7.8480000495910645, 7.800000190734863, 7.74399995803833, 7.71999979019165, 7.711999893188477, 7.711999893188477, 7.711999893188477, 7.711999893188477, 7.71999979019165, 7.71999979019165, 7.711999893188477, 7.703999996185303, 7.703999996185303, 7.703999996185303, 7.688000202178955, 7.688000202178955, 7.688000202178955, 7.688000202178955, 7.671999931335449, 8.67199993133545, 8.640000343322754, 8.607999801635742, 8.583999633789062, 8.583999633789062, 8.5600004196167, 8.552000045776367, 8.53600025177002, 8.520000457763672, 8.503999710083008, 8.503999710083008, 8.472000122070312, 8.447999954223633, 8.416000366210938, 8.383999824523926, 8.383999824523926, 8.383999824523926, 8.368000030517578, 8.35200023651123, 8.35200023651123, 8.336000442504883, 8.303999900817871, 8.303999900817871, 8.263999938964844, 8.239999771118164, 8.279999732971191, 8.392000198364258, 8.496000289916992, 8.496000289916992, 8.656000137329102, 8.807999610900879, 8.928000450134277, 9.015999794006348, 11.767999649047852, 11.767999649047852, 12.071999549865723, 12.175999641418457, 12.567999839782715, 12.663999557495117, 13.064000129699707, 13.064000129699707, 13.168000221252441, 13.607999801635742, 13.640000343322754, 13.53600025177002, 13.968000411987305, 13.968000411987305, 14.008000373840332, 14.104000091552734, 14.175999641418457, 14.104000091552734, 15.4399995803833, 15.4399995803833, 15.543999671936035, 15.48799991607666, 15.48799991607666, 15.503999710083008, 15.479999542236328, 15.479999542236328, 15.447999954223633, 15.399999618530273, 15.37600040435791, 15.35200023651123, 15.319999694824219, 15.319999694824219, 15.272000312805176, 15.272000312805176, 15.336000442504883, 15.303999900817871, 15.248000144958496, 15.248000144958496, 14.744000434875488, 15.303999900817871, 15.272000312805176, 15.248000144958496, 15.215999603271484, 15.223999977111816, 15.223999977111816, 15.248000144958496, 16.784000396728516, 16.719999313354492, 16.719999313354492, 16.719999313354492, 16.719999313354492, 16.672000885009766, 16.687999725341797, 16.719999313354492, 16.70400047302246, 16.607999801635742, 16.607999801635742, 16.624000549316406, 16.6560001373291, 16.23200035095215, 16.143999099731445, 16.06399917602539, 16.06399917602539, 16.016000747680664, 17.472000122070312, 19.007999420166016, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250};
+
+
diff --git a/test/testData2.h b/test/testData2.h
new file mode 100644
index 0000000..d0e07f0
--- /dev/null
+++ b/test/testData2.h
@@ -0,0 +1,28 @@
+/**
+ * FALKOLib - Fast Adaptive Laser Keypoint Orientation-invariant
+ * Copyright (C) 2016 Fabjan Kallasi and Dario Lodi Rizzini.
+ *
+ * This file is part of FALKOLib.
+ *
+ * FALKOLib is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * FALKOLib is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with FALKOLib. If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+extern double testRanges1[];
+
+extern double testRanges2[];
+
+extern double testRangesOrtho1[];
+
+extern double testRangesOrtho2[];
--
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