Cleanup test_sample_consensus

Author: SergioRAgostinho

test/sample_consensus/test_sample_consensus.cpp

@@ -38,10 +38,6 @@
 
 #include <gtest/gtest.h>
 
-#include <boost/bind.hpp>
-#include <boost/date_time/posix_time/posix_time.hpp>
-#include <boost/function.hpp>
-
 #include <pcl/sample_consensus/msac.h>
 #include <pcl/sample_consensus/lmeds.h>
 #include <pcl/sample_consensus/rmsac.h>
@@ -57,7 +53,6 @@
 #include <thread>
 
 using namespace pcl;
-using namespace std::chrono_literals;
 
 typedef SampleConsensusModelSphere<PointXYZ>::Ptr SampleConsensusModelSpherePtr;
 
@@ -87,32 +82,7 @@ TEST (SampleConsensus, Base)
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 // Test if RANSAC finishes within a second.
 template <typename SacT>
-class SacTest : public ::testing::Test
-{
-  public:
-
-    void SetUp ()
-    {
-
-      const unsigned point_count = 100;
-      PointCloud<PointXYZ> cloud;
-      cloud.points.resize (point_count);
-      for (unsigned idx = 0; idx < point_count; ++idx)
-      {
-        cloud.points[idx].x = static_cast<float> (idx);
-        cloud.points[idx].y = 0.0;
-        cloud.points[idx].z = 0.0;
-      }
-
-      boost::function<bool ()> sac_function;
-      SampleConsensusModelSpherePtr model (new SampleConsensusModelSphere<PointXYZ> (cloud.makeShared ()));
-
-      sac_ = std::make_unique<SacT> (model, 0.03);
-    }
-
-    std::unique_ptr<SacT> sac_;
-};
-
+class SacTest : public ::testing::Test {};
 
 using sacTypes = ::testing::Types<
   RandomSampleConsensus<PointXYZ>,
@@ -126,20 +96,29 @@ TYPED_TEST_CASE(SacTest, sacTypes);
 
 TYPED_TEST(SacTest, InfiniteLoop)
 {
+  using namespace std::chrono_literals;
+
+  const unsigned point_count = 100;
+  PointCloud<PointXYZ> cloud;
+  cloud.points.resize (point_count);
+  for (unsigned idx = 0; idx < point_count; ++idx)
+  {
+    cloud.points[idx].x = static_cast<float> (idx);
+    cloud.points[idx].y = 0.0;
+    cloud.points[idx].z = 0.0;
+  }
+
+  SampleConsensusModelSpherePtr model (new SampleConsensusModelSphere<PointXYZ> (cloud.makeShared ()));
+  TypeParam sac (model, 0.03);
+
   // Set up timed conditions
   std::condition_variable cv;
   std::mutex mtx;
-  #if defined(DEBUG) || defined(_DEBUG)
-    std::chrono::seconds delay (15);
-  #else
-    std::chrono::seconds delay (1);
-  #endif
-
 
   // Create the RANSAC object
-  std::thread thread1 ([this,&mtx, &cv] ()
+  std::thread thread ([&] ()
   {
-    this->sac_->computeModel (0);
+    sac.computeModel (0);
 
     // Notify things are done
     std::lock_guard<std::mutex> lock (mtx);
@@ -149,16 +128,17 @@ TYPED_TEST(SacTest, InfiniteLoop)
 
   // Waits for the delay
   std::unique_lock<std::mutex> lock (mtx);
-  EXPECT_EQ (std::cv_status::no_timeout, cv.wait_for (lock, delay));
-  thread1.join ();
+  #if defined(DEBUG) || defined(_DEBUG)
+    EXPECT_EQ (std::cv_status::no_timeout, cv.wait_for (lock, 15s));
+  #else
+    EXPECT_EQ (std::cv_status::no_timeout, cv.wait_for (lock, 1s));
+  #endif
+  thread.join ();
 }
 
-
-
 int
 main (int argc, char** argv)
 {
   testing::InitGoogleTest (&argc, argv);
   return (RUN_ALL_TESTS ());
 }
-