asan

CMakeLists.txt

@@ -12,11 +12,17 @@ include_directories(
     ikd-Tree
 )
 
+set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fno-omit-frame-pointer -fsanitize=address")
+set (CMAKE_LINKER_FLAGS "${CMAKE_LINKER_FLAGS} -fno-omit-frame-pointer -fsanitize=address")
+
 add_executable(ikd_tree_demo examples/ikd_Tree_demo.cpp ikd-Tree/ikd_Tree.cpp)
 target_link_libraries(ikd_tree_demo ${PCL_LIBRARIES})
 
 add_executable(ikd_tree_async_demo examples/ikd_Tree_Async_demo.cpp ikd-Tree/ikd_Tree.cpp)
 target_link_libraries(ikd_tree_async_demo ${PCL_LIBRARIES})
 
 add_executable(ikd_tree_Search_demo examples/ikd_Tree_Search_demo.cpp ikd-Tree/ikd_Tree.cpp)
-target_link_libraries(ikd_tree_Search_demo ${PCL_LIBRARIES})
+target_link_libraries(ikd_tree_Search_demo ${PCL_LIBRARIES})
+
+add_executable(ikd_simple_test examples/ikd_simple_test.cpp ikd-Tree/ikd_Tree.cpp)
+target_link_libraries(ikd_simple_test ${PCL_LIBRARIES})

examples/ikd_Tree_demo.cpp

@@ -182,6 +182,8 @@ PointType generate_target_point(){
 }
 
 int main(int argc, char** argv){
+	//const char* name = std::string("hello").c_str();
+	//puts(name);
     srand((unsigned) time(NULL));
     printf("Testing ...\n");
     int counter = 0;
@@ -283,4 +285,4 @@ int main(int argc, char** argv){
     printf("Box-wse Re-insertion (%d boxes):  %0.3fms\n",Box_Num,box_add_time/box_add_counter);          
     printf("Nearest Search (%d points):       %0.3fms\n", Search_Counter,search_time/counter);              
     return 0;
-}
+}

examples/ikd_simple_test.cpp

@@ -0,0 +1,47 @@
+#include <ikd_Tree.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <random>
+#include <algorithm>
+#include <eigen3/Eigen/Dense>
+
+
+using PointType = ikdTree_PointType;//Eigen::Vector3f;
+using PointVector = KD_TREE<PointType>::PointVector;
+PointVector RandomCloud(size_t size, float range) {
+   PointVector result;
+  result.reserve(size);
+  for (size_t i = 0; i < size; i++) {
+	  auto r = range * Eigen::Vector3f::Random();
+    result.emplace_back(r[0], r[1], r[2]);
+  }
+  return result;
+}
+
+
+int main(int argc, char** argv)
+{ 
+	if(argc == 1)
+	{
+		const char* name = std::string("hello").c_str();
+		puts(name);
+	}
+	PointVector points = RandomCloud(200, 20);
+  auto *tree = new KD_TREE<PointType>(0.2,0.2,0.2);
+  //tree->set_downsample_param(0.001);
+  tree->Build(points);
+
+  // search nn test
+  for (size_t i = 0; i < points.size(); i++) {
+    std::vector<PointType,Eigen::aligned_allocator<PointType>> points_near;
+    std::vector<float> sqr_distances;
+    tree->Nearest_Search(points[i], 1, points_near, sqr_distances);
+    puts(points_near.size()==1?"OK":"FAIL");
+    //EXPECT_EQ(points_near.size(), 1);
+      puts(points_near[0].x==points[i].x?"OK":"FAIL");
+      puts(points_near[0].y==points[i].y?"OK":"FAIL");
+      puts(points_near[0].z==points[i].z?"OK":"FAIL");
+    //EXPECT_FLOAT_EQ(0.0, sqr_distances[0]);
+  }
+  puts("done");
+}