From b4e6e24368da6654a19429b3c291879afee64e5b Mon Sep 17 00:00:00 2001
From: Andrea Settimi <andreasettimi39@gmail.com>
Date: Thu, 13 Jun 2024 14:03:16 +0200
Subject: [PATCH] WIP-MERGE: cleaning from merge diffcheck joint detector

---
 CMakeLists.txt                       | 49 ++++++++++++++++++++++------
 deps/eigen                           |  2 +-
 deps/pybind11                        |  2 +-
 tests/entry_test.cc                  | 17 ++++++++++
 tests/unit_tests/DFPointCloudTest.cc | 21 ++++++++++++
 5 files changed, 79 insertions(+), 12 deletions(-)
 create mode 100644 tests/entry_test.cc
 create mode 100644 tests/unit_tests/DFPointCloudTest.cc

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 431b56d9..6802e8f0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -115,15 +115,6 @@ target_include_directories(${APP_NAME_EXE}
     PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src
     )
 
-#--------------------------------------------------------------------------
-# Tests
-#--------------------------------------------------------------------------
-
-# include(CTest)
-# enable_testing()
-
-# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/tests/global_registrations)
-
 #--------------------------------------------------------------------------
 # pybind11
 #--------------------------------------------------------------------------
@@ -167,4 +158,42 @@ if (BUILD_PYTHON_MODULE)
             )
     endforeach()
 
-endif()
\ No newline at end of file
+endif()
+
+#--------------------------------------------------------------------------
+# Tests
+#--------------------------------------------------------------------------
+
+# include(CTest)
+# enable_testing()
+# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/deps/googletest)
+# set(TESTS_OUT_DIR ${CMAKE_BINARY_DIR}/tests/)
+
+
+# # Unit testing ------------------------------------------------------------
+# set(UNIT_TESTS unit_tests)
+# add_executable(${UNIT_TESTS} tests/unit_tests/DFPointCloudTest.cc)
+# set_target_properties(${UNIT_TESTS} PROPERTIES
+#     RUNTIME_OUTPUT_DIRECTORY ${TESTS_OUT_DIR}
+#     )
+
+# target_link_libraries(${UNIT_TESTS} gtest gtest_main)
+# target_link_libraries(${UNIT_TESTS} ${SHARED_LIB_NAME})
+
+# add_test(NAME ${UNIT_TESTS} COMMAND ${UNIT_TESTS})
+
+# Integration testing -----------------------------------------------------
+# Component testing -------------------------------------------------------
+# etc ---------------------------------------------------------------------
+
+# # TODO: a better way to copy the dlls to the tests directory for the tests
+# # get all the files -dlls in the bin directory and copy them one by one to tests dir
+# file(GLOB files ${CMAKE_BINARY_DIR}/bin/Release/*.dll)
+# foreach(file ${files})
+#     message(STATUS "Copying ${file} to ${TESTS_OUT_DIR}")
+#     add_custom_command(TARGET ${UNIT_TESTS} POST_BUILD
+#         COMMAND ${CMAKE_COMMAND} -E copy
+#         ${file}
+#         ${TESTS_OUT_DIR}/Release
+#         )
+# endforeach()
\ No newline at end of file
diff --git a/deps/eigen b/deps/eigen
index 27f81762..02bcf9b5 160000
--- a/deps/eigen
+++ b/deps/eigen
@@ -1 +1 @@
-Subproject commit 27f8176254a6e84400db662a62f1825cc5c65bc0
+Subproject commit 02bcf9b5918d46016bc88e5e9abebb6caa5a80b7
diff --git a/deps/pybind11 b/deps/pybind11
index 1a0ff405..ab955f15 160000
--- a/deps/pybind11
+++ b/deps/pybind11
@@ -1 +1 @@
-Subproject commit 1a0ff405498b6aac4b57cf0d95670010e5e37973
+Subproject commit ab955f158c0f34320d0e65048459a6495f62978e
diff --git a/tests/entry_test.cc b/tests/entry_test.cc
new file mode 100644
index 00000000..e6dd32ce
--- /dev/null
+++ b/tests/entry_test.cc
@@ -0,0 +1,17 @@
+#include <gtest/gtest.h>
+
+// Function to test
+int add(int a, int b) {
+    return a + b;
+}
+
+// Test case
+TEST(AddTest, HandlesPositiveInput) {
+    EXPECT_EQ(6, add(2, 4));
+}
+
+// Main function
+int main(int argc, char **argv) {
+    ::testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}
\ No newline at end of file
diff --git a/tests/unit_tests/DFPointCloudTest.cc b/tests/unit_tests/DFPointCloudTest.cc
new file mode 100644
index 00000000..8e552928
--- /dev/null
+++ b/tests/unit_tests/DFPointCloudTest.cc
@@ -0,0 +1,21 @@
+#include <gtest/gtest.h>
+#include "diffCheck.hh"
+
+
+TEST(DFPointCloudTest, TestConstructor) {
+    std::vector<Eigen::Vector3d> points = {Eigen::Vector3d(1, 2, 3)};
+    std::vector<Eigen::Vector3d> colors = {Eigen::Vector3d(255, 255, 255)};
+    std::vector<Eigen::Vector3d> normals = {Eigen::Vector3d(0, 0, 1)};
+
+    diffCheck::geometry::DFPointCloud dfPointCloud(points, colors, normals);
+
+    // Verify that the points, colors, and normals are set correctly
+    EXPECT_EQ(dfPointCloud.Points[0], points[0]);
+    EXPECT_EQ(dfPointCloud.Colors[0], colors[0]);
+    EXPECT_EQ(dfPointCloud.Normals[0], normals[0]);
+}
+
+int main(int argc, char **argv) {
+    ::testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}
\ No newline at end of file