Feature: added test for search and using full list of points with sam…

…ple 4 points commented out
yilinliu77 · Mar 29, 2019 · b650012 · b650012
1 parent fd3102a
commit b650012
Showing 1 changed file with 8 additions and 2 deletions.
diff --git a/src/quiz/cluster/cluster.cpp b/src/quiz/cluster/cluster.cpp
@@ -100,8 +100,8 @@ int main ()
 	pcl::visualization::PCLVisualizer::Ptr viewer = initScene(window, 25);
 
 	// Create data
-	//std::vector<std::vector<float>> points = { {-6.2,7}, {-6.3,8.4}, {-5.2,7.1}, {-5.7,6.3}, {7.2,6.1}, {8.0,5.3}, {7.2,7.1}, {0.2,-7.1}, {1.7,-6.9}, {-1.2,-7.2}, {2.2,-8.9} };
-	std::vector<std::vector<float>> points = { {-6.2,7}, {-6.3,8.4}, {-5.2,7.1}, {-5.7,6.3} };
+	std::vector<std::vector<float>> points = { {-6.2,7}, {-6.3,8.4}, {-5.2,7.1}, {-5.7,6.3}, {7.2,6.1}, {8.0,5.3}, {7.2,7.1}, {0.2,-7.1}, {1.7,-6.9}, {-1.2,-7.2}, {2.2,-8.9} };
+	//std::vector<std::vector<float>> points = { {-6.2,7}, {-6.3,8.4}, {-5.2,7.1}, {-5.7,6.3} };
 	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = CreateData(points);
 
 	KdTree* tree = new KdTree;
@@ -111,6 +111,12 @@ int main ()
 
   	int it = 0;
   	render2DTree(tree->root,viewer,window, it);
+
+  	std::cout << "Test Search" << std::endl;
+  	std::vector<int> nearby = tree->search({-6,7},3.0);
+  	for(int index : nearby)
+      std::cout << index << ",";
+  	std::cout << std::endl;
 
   	// Time segmentation process
   	auto startTime = std::chrono::steady_clock::now();