diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2cc28cfef900daa32b8218a4aa0c42edda324f4a..0c2c15567a7a6f0b6e26c7fb4b7bea9b2b0a4f92 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -26,6 +26,16 @@ message(STATUS "Configured to compile in ${CMAKE_BUILD_TYPE} mode.")
SET(CMAKE_CXX_FLAGS_DEBUG "-g -Wall -D_REENTRANT")
SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -D_REENTRANT")
+#Build tests
+IF(NOT BUILD_TESTS)
+ OPTION(BUILD_TESTS "Build Unit tests" ON)
+ENDIF(NOT BUILD_TESTS)
+
+#Build demos
+IF(NOT BUILD_DEMOS)
+ OPTION(BUILD_DEMOS "Build demos" ON)
+ENDIF(NOT BUILD_DEMOS)
+
#Set compiler according C++11 support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
@@ -40,9 +50,20 @@ else()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
-
ADD_SUBDIRECTORY(src)
+#Build tests
+IF(BUILD_TESTS)
+ # Enables testing for this directory and below.
+ # Note that ctest expects to find a test file in the build directory root.
+ # Therefore, this command should be in the source directory root.
+ #include(CTest) # according to http://public.kitware.com/pipermail/cmake/2012-June/050853.html
+ MESSAGE("Building tests.")
+ enable_testing()
+ set(_LASER_SCAN_UTILS_ROOT_DIR ${CMAKE_SOURCE_DIR})
+ add_subdirectory(test)
+ENDIF(BUILD_TESTS)
+
FIND_PACKAGE(Doxygen)
FIND_PATH(IRI_DOC_DIR doxygen.conf ${CMAKE_SOURCE_DIR}/doc/iri_doc/)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index d787d5dfff365c3dea62442e89764caea5246ea7..5a9977bbaa8efa7dc7562350ae99b61200b54f8a 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -15,15 +15,10 @@ FIND_PACKAGE(csm QUIET)
#include directories
INCLUDE_DIRECTORIES(. /usr/local/include)
-IF(Eigen3_FOUND)
- INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIRS})
-ENDIF(Eigen3_FOUND)
+INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIRS})
IF(csm_FOUND)
INCLUDE_DIRECTORIES(${csm_INCLUDE_DIR})
ENDIF(csm_FOUND)
-IF(Ceres_FOUND)
- INCLUDE_DIRECTORIES(${CERES_INCLUDE_DIRS})
-ENDIF(Ceres_FOUND)
IF(faramotics_FOUND)
INCLUDE_DIRECTORIES(${faramotics_INCLUDE_DIRS})
ENDIF(faramotics_FOUND)
@@ -76,12 +71,19 @@ SET(SRCS
SET(SRCS ${SRCS}
icp.cpp)
ENDIF(csm_FOUND)
+
# create the shared library
ADD_LIBRARY(${PROJECT_NAME} SHARED ${SRCS})
IF(csm_FOUND)
target_link_libraries(${PROJECT_NAME} ${csm_LIBRARY})
ENDIF(csm_FOUND)
+# Examples
+IF(BUILD_DEMOS)
+ MESSAGE("Building examples.")
+ ADD_SUBDIRECTORY(examples)
+ENDIF(BUILD_DEMOS)
+
#install library
INSTALL(TARGETS ${PROJECT_NAME}
RUNTIME DESTINATION bin
@@ -96,13 +98,3 @@ INSTALL(FILES ${HDRS}
#install Find*.cmake
INSTALL(FILES ../Findlaser_scan_utils.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
-
-#Build examples & tests
-IF(NOT BUILD_TESTS)
- OPTION(BUILD_TESTS "Build Unit tests" ON)
-ENDIF(NOT BUILD_TESTS)
-
-IF(BUILD_TESTS)
- MESSAGE("Building tests.")
- ADD_SUBDIRECTORY(test)
-ENDIF(BUILD_TESTS)
diff --git a/src/examples/CMakeLists.txt b/src/examples/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..005644f61512355f277bb90bb567f45a8acf60d1
--- /dev/null
+++ b/src/examples/CMakeLists.txt
@@ -0,0 +1,5 @@
+INCLUDE_DIRECTORIES(../src)
+
+# polylines demo
+ADD_EXECUTABLE(demo_polylines polyline_demo.cpp)
+TARGET_LINK_LIBRARIES(demo_polylines ${PROJECT_NAME})
\ No newline at end of file
diff --git a/src/test/polyline_test.cpp b/src/examples/polyline_demo.cpp
similarity index 99%
rename from src/test/polyline_test.cpp
rename to src/examples/polyline_demo.cpp
index 8c50bdfe99653a6ee55982f33fee0d90ed473367..47bf725adf11f113ee96c21b07cec70e1125f7ca 100644
--- a/src/test/polyline_test.cpp
+++ b/src/examples/polyline_demo.cpp
@@ -6,8 +6,8 @@
*/
//LaserScanUtils includes
-#include "../line_finder_iterative.h"
-#include "../laser_scan.h"
+#include "line_finder_iterative.h"
+#include "laser_scan.h"
//std includes
#include <ctime>
diff --git a/src/test/CMakeLists.txt b/src/test/CMakeLists.txt
deleted file mode 100644
index 70c90f613a07cd22b2c39d393b5ff469157190cc..0000000000000000000000000000000000000000
--- a/src/test/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-# polylines test
-ADD_EXECUTABLE(test_polylines polyline_test.cpp)
-TARGET_LINK_LIBRARIES(test_polylines ${PROJECT_NAME})
\ No newline at end of file
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6cd8581ea6483c152ff1562ce6670a2066448522
--- /dev/null
+++ b/test/CMakeLists.txt
@@ -0,0 +1,17 @@
+# Retrieve googletest from github & compile
+add_subdirectory(gtest)
+
+# Include gtest directory.
+include_directories(${GTEST_INCLUDE_DIRS})
+
+############# USE THIS TEST AS AN EXAMPLE ####################
+# #
+# Create a specific test executable for gtest_example #
+# gnss_utils_add_gtest(gtest_example gtest_example.cpp) #
+# target_link_libraries(gtest_example ${PROJECT_NAME}) #
+# #
+##############################################################
+
+# gtest example
+gnss_utils_add_gtest(gtest_example gtest_example.cpp)
+target_link_libraries(gtest_example ${PROJECT_NAME})
\ No newline at end of file
diff --git a/test/gtest/CMakeLists.txt b/test/gtest/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3c3c48c74516488a8c4eb24c2492bd81a5edc7f9
--- /dev/null
+++ b/test/gtest/CMakeLists.txt
@@ -0,0 +1,65 @@
+cmake_minimum_required(VERSION 2.8.8)
+project(gtest_builder C CXX)
+
+# We need thread support
+#find_package(Threads REQUIRED)
+
+# Enable ExternalProject CMake module
+include(ExternalProject)
+
+set(GTEST_FORCE_SHARED_CRT ON)
+set(GTEST_DISABLE_PTHREADS OFF)
+
+# For some reason I need to disable PTHREADS
+# with g++ (Ubuntu 4.9.3-8ubuntu2~14.04) 4.9.3
+# This is a known issue for MinGW :
+# https://github.com/google/shaderc/pull/174
+#if(MINGW)
+ set(GTEST_DISABLE_PTHREADS ON)
+#endif()
+
+# Download GoogleTest
+ExternalProject_Add(googletest
+ GIT_REPOSITORY https://github.com/google/googletest.git
+ GIT_TAG v1.8.x
+ # TIMEOUT 1 # We'll try this
+ CMAKE_ARGS -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG:PATH=DebugLibs
+ -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE:PATH=ReleaseLibs
+ -DCMAKE_CXX_FLAGS=${MSVC_COMPILER_DEFS}
+ -Dgtest_force_shared_crt=${GTEST_FORCE_SHARED_CRT}
+ -Dgtest_disable_pthreads=${GTEST_DISABLE_PTHREADS}
+ -DBUILD_GTEST=ON
+ PREFIX "${CMAKE_CURRENT_BINARY_DIR}"
+ # Disable install step
+ INSTALL_COMMAND ""
+ UPDATE_DISCONNECTED 1 # 1: do not update googletest; 0: update googletest via github
+)
+
+# Get GTest source and binary directories from CMake project
+
+# Specify include dir
+ExternalProject_Get_Property(googletest source_dir)
+set(GTEST_INCLUDE_DIRS ${source_dir}/googletest/include PARENT_SCOPE)
+
+# Specify MainTest's link libraries
+ExternalProject_Get_Property(googletest binary_dir)
+set(GTEST_LIBS_DIR ${binary_dir}/googlemock/gtest PARENT_SCOPE)
+
+# Create a libgtest target to be used as a dependency by test programs
+add_library(libgtest IMPORTED STATIC GLOBAL)
+add_dependencies(libgtest googletest)
+
+# Set libgtest properties
+set_target_properties(libgtest PROPERTIES
+ "IMPORTED_LOCATION" "${binary_dir}/googlemock/gtest/libgtest.a"
+ "IMPORTED_LINK_INTERFACE_LIBRARIES" "${CMAKE_THREAD_LIBS_INIT}"
+)
+
+function(gnss_utils_add_gtest target)
+ add_executable(${target} ${ARGN})
+ add_dependencies(${target} libgtest)
+ target_link_libraries(${target} libgtest)
+
+ #WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/bin
+ add_test(NAME ${target} COMMAND ${target})
+endfunction()
diff --git a/test/gtest/utils_gtest.h b/test/gtest/utils_gtest.h
new file mode 100644
index 0000000000000000000000000000000000000000..2deddcb17755bb065887f55ce95ec6be4c8711e4
--- /dev/null
+++ b/test/gtest/utils_gtest.h
@@ -0,0 +1,146 @@
+/**
+ * \file utils_gtest.h
+ * \brief Some utils for gtest
+ * \author Jeremie Deray
+ * Created on: 26/09/2016
+ * Eigen macros extension by: Joan Sola on 26/04/2017
+ */
+
+#ifndef GNSSUTILS_UTILS_GTEST_H
+#define GNSSUTILS_UTILS_GTEST_H
+
+#include <gtest/gtest.h>
+
+// Macros for testing equalities and inequalities.
+//
+// * {ASSERT|EXPECT}_EQ(expected, actual): Tests that expected == actual
+// * {ASSERT|EXPECT}_NE(v1, v2): Tests that v1 != v2
+// * {ASSERT|EXPECT}_LT(v1, v2): Tests that v1 < v2
+// * {ASSERT|EXPECT}_LE(v1, v2): Tests that v1 <= v2
+// * {ASSERT|EXPECT}_GT(v1, v2): Tests that v1 > v2
+// * {ASSERT|EXPECT}_GE(v1, v2): Tests that v1 >= v2
+//
+// C String Comparisons. All tests treat NULL and any non-NULL string
+// as different. Two NULLs are equal.
+//
+// * {ASSERT|EXPECT}_STREQ(s1, s2): Tests that s1 == s2
+// * {ASSERT|EXPECT}_STRNE(s1, s2): Tests that s1 != s2
+// * {ASSERT|EXPECT}_STRCASEEQ(s1, s2): Tests that s1 == s2, ignoring case
+// * {ASSERT|EXPECT}_STRCASENE(s1, s2): Tests that s1 != s2, ignoring case
+//
+// Macros for comparing floating-point numbers.
+//
+// * {ASSERT|EXPECT}_FLOAT_EQ(expected, actual):
+// Tests that two float values are almost equal.
+// * {ASSERT|EXPECT}_DOUBLE_EQ(expected, actual):
+// Tests that two double values are almost equal.
+// * {ASSERT|EXPECT}_NEAR(v1, v2, abs_error):
+// Tests that v1 and v2 are within the given distance to each other.
+//
+// These predicate format functions work on floating-point values, and
+// can be used in {ASSERT|EXPECT}_PRED_FORMAT2*(), e.g.
+//
+// EXPECT_PRED_FORMAT2(testing::DoubleLE, Foo(), 5.0);
+//
+// Macros that execute statement and check that it doesn't generate new fatal
+// failures in the current thread.
+//
+// * {ASSERT|EXPECT}_NO_FATAL_FAILURE(statement);
+
+// http://stackoverflow.com/a/29155677
+
+namespace testing
+{
+namespace internal
+{
+enum GTestColor
+{
+ COLOR_DEFAULT,
+ COLOR_RED,
+ COLOR_GREEN,
+ COLOR_YELLOW
+};
+
+extern void ColoredPrintf(GTestColor color, const char* fmt, ...);
+
+#define PRINTF(...) \
+ do { testing::internal::ColoredPrintf(testing::internal::COLOR_GREEN,\
+ "[ ] "); \
+ testing::internal::ColoredPrintf(testing::internal::COLOR_YELLOW, __VA_ARGS__); } \
+ while(0)
+
+#define PRINT_TEST_FINISHED \
+{ \
+ const ::testing::TestInfo* const test_info = \
+ ::testing::UnitTest::GetInstance()->current_test_info(); \
+ PRINTF(std::string("Finished test case ").append(test_info->test_case_name()).\
+ append(" of test ").append(test_info->name()).append(".\n").c_str()); \
+}
+
+// C++ stream interface
+class TestCout : public std::stringstream
+{
+public:
+ ~TestCout() override
+ {
+ PRINTF("%s\n", str().c_str());
+ }
+};
+
+/* Usage :
+
+TEST(Test, Foo)
+{
+ // the following works but prints default stream
+ EXPECT_TRUE(false) << "Testing Stream.";
+
+ // or you can play with AINSI color code
+ EXPECT_TRUE(false) << "\033[1;31m" << "Testing Stream.";
+
+ // or use the above defined macros
+
+ PRINTF("Hello world");
+
+ // or
+
+ TEST_COUT << "Hello world";
+}
+
+*/
+#define TEST_COUT testing::internal::TestCout()
+
+} // namespace internal
+
+/* Macros related to testing Eigen classes:
+ */
+#define EXPECT_MATRIX_APPROX(C_expect, C_actual, precision) EXPECT_PRED2([](const Eigen::MatrixXd lhs, const Eigen::MatrixXd rhs) { \
+ return (lhs - rhs).isMuchSmallerThan(1, precision); \
+ }, \
+ C_expect, C_actual);
+
+#define ASSERT_MATRIX_APPROX(C_expect, C_actual, precision) ASSERT_PRED2([](const Eigen::MatrixXd lhs, const Eigen::MatrixXd rhs) { \
+ return (lhs - rhs).isMuchSmallerThan(1, precision); \
+ }, \
+ C_expect, C_actual);
+
+#define EXPECT_QUATERNION_APPROX(C_expect, C_actual, precision) EXPECT_MATRIX_APPROX((C_expect).coeffs(), (C_actual).coeffs(), precision)
+
+#define ASSERT_QUATERNION_APPROX(C_expect, C_actual, precision) ASSERT_MATRIX_APPROX((C_expect).coeffs(), (C_actual).coeffs(), precision)
+
+#define EXPECT_POSE2D_APPROX(C_expect, C_actual, precision) EXPECT_PRED2([](const Eigen::MatrixXd lhs, const Eigen::MatrixXd rhs) { \
+ MatrixXd er = lhs - rhs; \
+ er(2) = pi2pi((double)er(2)); \
+ return er.isMuchSmallerThan(1, precision); \
+ }, \
+ C_expect, C_actual);
+
+#define ASSERT_POSE2D_APPROX(C_expect, C_actual, precision) EXPECT_PRED2([](const Eigen::MatrixXd lhs, const Eigen::MatrixXd rhs) { \
+ MatrixXd er = lhs - rhs; \
+ er(2) = pi2pi((double)er(2)); \
+ return er.isMuchSmallerThan(1, precision); \
+ }, \
+ C_expect, C_actual);
+
+} // namespace testing
+
+#endif /* GNSSUTILS_UTILS_GTEST_H */
diff --git a/test/gtest_example.cpp b/test/gtest_example.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..7dd3b9ceea4ff0b3c7ea1c6f8db3286b273f7b66
--- /dev/null
+++ b/test/gtest_example.cpp
@@ -0,0 +1,20 @@
+#include "gtest/utils_gtest.h"
+
+TEST(TestTest, DummyTestExample)
+{
+ EXPECT_FALSE(false);
+
+ ASSERT_TRUE(true);
+
+ int my_int = 5;
+
+ ASSERT_EQ(my_int, 5);
+
+// PRINTF("All good at TestTest::DummyTestExample !\n");
+}
+
+int main(int argc, char **argv)
+{
+ testing::InitGoogleTest(&argc, argv);
+ return RUN_ALL_TESTS();
+}