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#include <gtest/gtest.h>
#include <pcl/io/pcd_io.h>

#include <boost/thread.hpp>

#include <pcl/sample_consensus/sac.h>
#include <pcl/sample_consensus/lmeds.h>
#include <pcl/sample_consensus/ransac.h>
#include <pcl/sample_consensus/rransac.h>
#include <pcl/sample_consensus/msac.h>
#include <pcl/sample_consensus/rmsac.h>
#include <pcl/sample_consensus/mlesac.h>
#include <pcl/sample_consensus/sac_model.h>
#include <pcl/sample_consensus/sac_model_plane.h>
#include <pcl/sample_consensus/sac_model_sphere.h>
#include <pcl/sample_consensus/sac_model_cone.h>
#include <pcl/sample_consensus/sac_model_cylinder.h>
#include <pcl/sample_consensus/sac_model_circle.h>
#include <pcl/sample_consensus/sac_model_circle3d.h>
#include <pcl/sample_consensus/sac_model_line.h>
#include <pcl/sample_consensus/sac_model_normal_plane.h>
#include <pcl/sample_consensus/sac_model_normal_sphere.h>
#include <pcl/sample_consensus/sac_model_parallel_plane.h>
#include <pcl/sample_consensus/sac_model_normal_parallel_plane.h>
#include <pcl/features/normal_3d.h>

using namespace pcl;
using namespace pcl::io;
using namespace std;

typedef SampleConsensusModel<PointXYZ>::Ptr SampleConsensusModelPtr;
typedef SampleConsensusModelPlane<PointXYZ>::Ptr SampleConsensusModelPlanePtr;
typedef SampleConsensusModelSphere<PointXYZ>::Ptr SampleConsensusModelSpherePtr;
typedef SampleConsensusModelCylinder<PointXYZ, Normal>::Ptr SampleConsensusModelCylinderPtr;
typedef SampleConsensusModelCone<PointXYZ, Normal>::Ptr SampleConsensusModelConePtr;
typedef SampleConsensusModelCircle2D<PointXYZ>::Ptr SampleConsensusModelCircle2DPtr;
typedef SampleConsensusModelCircle3D<PointXYZ>::Ptr SampleConsensusModelCircle3DPtr;
typedef SampleConsensusModelLine<PointXYZ>::Ptr SampleConsensusModelLinePtr;
typedef SampleConsensusModelNormalPlane<PointXYZ, Normal>::Ptr SampleConsensusModelNormalPlanePtr;
typedef SampleConsensusModelNormalSphere<PointXYZ, Normal>::Ptr SampleConsensusModelNormalSpherePtr;
typedef SampleConsensusModelParallelPlane<PointXYZ>::Ptr SampleConsensusModelParallelPlanePtr;
typedef SampleConsensusModelNormalParallelPlane<PointXYZ, Normal>::Ptr SampleConsensusModelNormalParallelPlanePtr;

PointCloud<PointXYZ>::Ptr cloud_ (new PointCloud<PointXYZ> ());
PointCloud<Normal>::Ptr normals_ (new PointCloud<Normal> ());
vector<int> indices_;
float plane_coeffs_[] = {-0.8964f, -0.5868f, -1.208f};

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

template<typename ModelType, typename SacType>
void verifyPlaneSac (ModelType & model, SacType & sac, unsigned int inlier_number = 2000, float tol = 1e-1f,
                     float refined_tol = 1e-1f, float proj_tol = 1e-3f)
{
  // Algorithm tests
  bool result = sac.computeModel ();
  ASSERT_TRUE (result);

  std::vector<int> sample;
  sac.getModel (sample);
  EXPECT_EQ (3, sample.size ());

  std::vector<int> inliers;
  sac.getInliers (inliers);
  EXPECT_LT (inlier_number, inliers.size ());

  Eigen::VectorXf coeff;
  sac.getModelCoefficients (coeff);
  EXPECT_EQ (4, coeff.size ());
  EXPECT_NEAR (plane_coeffs_[0], coeff[0]/coeff[3], tol);
  EXPECT_NEAR (plane_coeffs_[1], coeff[1]/coeff[3], tol);
  EXPECT_NEAR (plane_coeffs_[2], coeff[2]/coeff[3], tol);


  Eigen::VectorXf coeff_refined;
  model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
  EXPECT_EQ (4, coeff_refined.size ());
  EXPECT_NEAR (plane_coeffs_[0], coeff_refined[0]/coeff_refined[3], refined_tol);
  EXPECT_NEAR (plane_coeffs_[1], coeff_refined[1]/coeff_refined[3], refined_tol);
  // This test fails in Windows (VS 2010) -- not sure why yet -- relaxing the constraint from 1e-2 to 1e-1
  // This test fails in MacOS too -- not sure why yet -- disabling
  //EXPECT_NEAR (coeff_refined[2]/coeff_refined[3], plane_coeffs_[2], refined_tol);

  // Projection tests
  PointCloud<PointXYZ> proj_points;
  model->projectPoints (inliers, coeff_refined, proj_points);
  EXPECT_NEAR (1.1266,  proj_points.points[20].x, proj_tol);
  EXPECT_NEAR (0.0152,  proj_points.points[20].y, proj_tol);
  EXPECT_NEAR (-0.0156, proj_points.points[20].z, proj_tol);

  EXPECT_NEAR (1.1843,  proj_points.points[30].x, proj_tol);
  EXPECT_NEAR (-0.0635, proj_points.points[30].y, proj_tol);
  EXPECT_NEAR (-0.0201, proj_points.points[30].z, proj_tol);

  EXPECT_NEAR (1.0749,  proj_points.points[50].x, proj_tol);
  EXPECT_NEAR (-0.0586, proj_points.points[50].y, proj_tol);
  EXPECT_NEAR (0.0587,  proj_points.points[50].z, refined_tol);
}

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (SampleConsensusModelPlane, Base)
{
  // Create a shared plane model pointer directly
  SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));

  // Basic tests
  PointCloud<PointXYZ>::ConstPtr cloud = model->getInputCloud ();
  ASSERT_EQ (cloud_->points.size (), cloud->points.size ());

  model->setInputCloud (cloud);
  cloud = model->getInputCloud ();
  ASSERT_EQ (cloud_->points.size (), cloud->points.size ());

  boost::shared_ptr<vector<int> > indices = model->getIndices ();
  ASSERT_EQ (indices_.size (), indices->size ());
  model->setIndices (indices_);
  indices = model->getIndices ();
  ASSERT_EQ (indices_.size (), indices->size ());
  model->setIndices (indices);
  indices = model->getIndices ();
  ASSERT_EQ (indices_.size (), indices->size ());
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (RANSAC, Base)
{
  // Create a shared plane model pointer directly
  SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));

  // Create the RANSAC object
  RandomSampleConsensus<PointXYZ> sac (model, 0.03);

  // Basic tests
  ASSERT_EQ (0.03, sac.getDistanceThreshold ());
  sac.setDistanceThreshold (0.03);
  ASSERT_EQ (0.03, sac.getDistanceThreshold ());

  sac.setProbability (0.99);
  ASSERT_EQ (0.99, sac.getProbability ());

  sac.setMaxIterations (10000);
  ASSERT_EQ (10000, sac.getMaxIterations ());
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (RANSAC, SampleConsensusModelPlane)
{
  srand (0);
  // Create a shared plane model pointer directly
  SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));

  // Create the RANSAC object
  RandomSampleConsensus<PointXYZ> sac (model, 0.03);

  verifyPlaneSac(model, sac);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (LMedS, SampleConsensusModelPlane)
{
  srand (0);
  // Create a shared plane model pointer directly
  SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));

  // Create the LMedS object
  LeastMedianSquares<PointXYZ> sac (model, 0.03);

  verifyPlaneSac(model, sac);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (MSAC, SampleConsensusModelPlane)
{
  srand (0);
  // Create a shared plane model pointer directly
  SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));

  // Create the MSAC object
  MEstimatorSampleConsensus<PointXYZ> sac (model, 0.03);

  verifyPlaneSac (model, sac);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (RRANSAC, SampleConsensusModelPlane)
{
  srand (0);
  // Create a shared plane model pointer directly
  SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));

  // Create the RRANSAC object
  RandomizedRandomSampleConsensus<PointXYZ> sac (model, 0.03);

  sac.setFractionNrPretest (10.0);
  ASSERT_EQ (10.0, sac.getFractionNrPretest ());

  verifyPlaneSac(model, sac, 600, 1.0f, 1.0f, 0.01f);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (RMSAC, SampleConsensusModelPlane)
{
  srand (0);
  // Create a shared plane model pointer directly
  SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));

  // Create the RMSAC object
  RandomizedMEstimatorSampleConsensus<PointXYZ> sac (model, 0.03);

  sac.setFractionNrPretest (10.0);
  ASSERT_EQ (10.0, sac.getFractionNrPretest ());

  verifyPlaneSac(model, sac, 600, 1.0f, 1.0f, 0.01f);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (RANSAC, SampleConsensusModelNormalParallelPlane)
{
  srand (0);
  // Use a custom point cloud for these tests until we need something better
  PointCloud<PointXYZ> cloud;
  PointCloud<Normal> normals;
  cloud.points.resize (10);
  normals.resize (10);

  for (unsigned idx = 0; idx < cloud.size (); ++idx)
  {
    cloud.points[idx].x = static_cast<float> ((rand () % 200) - 100);
    cloud.points[idx].y = static_cast<float> ((rand () % 200) - 100);
    cloud.points[idx].z = 0.0f;

    normals.points[idx].normal_x = 0.0f;
    normals.points[idx].normal_y = 0.0f;
    normals.points[idx].normal_z = 1.0f;
  }

  // Create a shared plane model pointer directly
  SampleConsensusModelNormalParallelPlanePtr model (new SampleConsensusModelNormalParallelPlane<PointXYZ, Normal> (cloud.makeShared ()));
  model->setInputNormals (normals.makeShared ());

  const float max_angle_rad = 0.01f;
  const float angle_eps = 0.001f;
  model->setEpsAngle (max_angle_rad);

  // Test true axis
  {
    model->setAxis (Eigen::Vector3f (0, 0, 1));

    RandomSampleConsensus<PointXYZ> sac (model, 0.03);
    sac.computeModel();

    std::vector<int> inliers;
    sac.getInliers (inliers);
    ASSERT_EQ (cloud.size (), inliers.size ());
  }

  // test axis slightly in valid range
  {
    model->setAxis (Eigen::Vector3f(0, sin(max_angle_rad * (1 - angle_eps)), cos(max_angle_rad * (1 - angle_eps))));
    RandomSampleConsensus<PointXYZ> sac (model, 0.03);
    sac.computeModel();

    std::vector<int> inliers;
    sac.getInliers (inliers);
    ASSERT_EQ (cloud.size (), inliers.size ());
  }

  // test axis slightly out of valid range
  {
    model->setAxis (Eigen::Vector3f(0, sin(max_angle_rad * (1 + angle_eps)), cos(max_angle_rad * (1 + angle_eps))));
    RandomSampleConsensus<PointXYZ> sac (model, 0.03);
    sac.computeModel();

    std::vector<int> inliers;
    sac.getInliers (inliers);
    ASSERT_EQ (0, inliers.size ());
  }
}


//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (MLESAC, SampleConsensusModelPlane)
{
  srand (0);
  // Create a shared plane model pointer directly
  SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));

  // Create the MSAC object
  MaximumLikelihoodSampleConsensus<PointXYZ> sac (model, 0.03);

  verifyPlaneSac(model, sac, 1000, 0.3f, 0.2f, 0.01f);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (RANSAC, SampleConsensusModelSphere)
{
  srand (0);

  // Use a custom point cloud for these tests until we need something better
  PointCloud<PointXYZ> cloud;
  cloud.points.resize (10);
  cloud.points[0].getVector3fMap () << 1.7068f, 1.0684f, 2.2147f;
  cloud.points[1].getVector3fMap () << 2.4708f, 2.3081f, 1.1736f;
  cloud.points[2].getVector3fMap () << 2.7609f, 1.9095f, 1.3574f;
  cloud.points[3].getVector3fMap () << 2.8016f, 1.6704f, 1.5009f;
  cloud.points[4].getVector3fMap () << 1.8517f, 2.0276f, 1.0112f;
  cloud.points[5].getVector3fMap () << 1.8726f, 1.3539f, 2.7523f;
  cloud.points[6].getVector3fMap () << 2.5179f, 2.3218f, 1.2074f;
  cloud.points[7].getVector3fMap () << 2.4026f, 2.5114f, 2.7588f;
  cloud.points[8].getVector3fMap () << 2.6999f, 2.5606f, 1.5571f;
  cloud.points[9].getVector3fMap () << 0.0000f, 0.0000f, 0.0000f;

  // Create a shared sphere model pointer directly
  SampleConsensusModelSpherePtr model (new SampleConsensusModelSphere<PointXYZ> (cloud.makeShared ()));

  // Create the RANSAC object
  RandomSampleConsensus<PointXYZ> sac (model, 0.03);

  // Algorithm tests
  bool result = sac.computeModel ();
  ASSERT_TRUE (result);

  std::vector<int> sample;
  sac.getModel (sample);
  EXPECT_EQ (4, sample.size ());

  std::vector<int> inliers;
  sac.getInliers (inliers);
  EXPECT_EQ (9, inliers.size ());

  Eigen::VectorXf coeff;
  sac.getModelCoefficients (coeff);
  EXPECT_EQ (4, coeff.size ());
  EXPECT_NEAR (2, coeff[0]/coeff[3],  1e-2);
  EXPECT_NEAR (2, coeff[1]/coeff[3],  1e-2);
  EXPECT_NEAR (2, coeff[2]/coeff[3],  1e-2);

  Eigen::VectorXf coeff_refined;
  model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
  EXPECT_EQ (4, coeff_refined.size ());
  EXPECT_NEAR (2, coeff_refined[0]/coeff_refined[3],  1e-2);
  EXPECT_NEAR (2, coeff_refined[1]/coeff_refined[3],  1e-2);
  EXPECT_NEAR (2, coeff_refined[2]/coeff_refined[3],  1e-2);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (RANSAC, SampleConsensusModelNormalSphere)
{
  srand (0);

  // Use a custom point cloud for these tests until we need something better
  PointCloud<PointXYZ> cloud;
  PointCloud<Normal> normals;
  cloud.points.resize (27); normals.points.resize (27);
  cloud.points[ 0].getVector3fMap () << -0.014695f,  0.009549f, 0.954775f;
  cloud.points[ 1].getVector3fMap () <<  0.014695f,  0.009549f, 0.954775f;
  cloud.points[ 2].getVector3fMap () << -0.014695f,  0.040451f, 0.954775f;
  cloud.points[ 3].getVector3fMap () <<  0.014695f,  0.040451f, 0.954775f;
  cloud.points[ 4].getVector3fMap () << -0.009082f, -0.015451f, 0.972049f;
  cloud.points[ 5].getVector3fMap () <<  0.009082f, -0.015451f, 0.972049f;
  cloud.points[ 6].getVector3fMap () << -0.038471f,  0.009549f, 0.972049f;
  cloud.points[ 7].getVector3fMap () <<  0.038471f,  0.009549f, 0.972049f;
  cloud.points[ 8].getVector3fMap () << -0.038471f,  0.040451f, 0.972049f;
  cloud.points[ 9].getVector3fMap () <<  0.038471f,  0.040451f, 0.972049f;
  cloud.points[10].getVector3fMap () << -0.009082f,  0.065451f, 0.972049f;
  cloud.points[11].getVector3fMap () <<  0.009082f,  0.065451f, 0.972049f;
  cloud.points[12].getVector3fMap () << -0.023776f, -0.015451f, 0.982725f;
  cloud.points[13].getVector3fMap () <<  0.023776f, -0.015451f, 0.982725f;
  cloud.points[14].getVector3fMap () << -0.023776f,  0.065451f, 0.982725f;
  cloud.points[15].getVector3fMap () <<  0.023776f,  0.065451f, 0.982725f;
  cloud.points[16].getVector3fMap () << -0.000000f, -0.025000f, 1.000000f;
  cloud.points[17].getVector3fMap () <<  0.000000f, -0.025000f, 1.000000f;
  cloud.points[18].getVector3fMap () << -0.029389f, -0.015451f, 1.000000f;
  cloud.points[19].getVector3fMap () <<  0.029389f, -0.015451f, 1.000000f;
  cloud.points[20].getVector3fMap () << -0.047553f,  0.009549f, 1.000000f;
  cloud.points[21].getVector3fMap () <<  0.047553f,  0.009549f, 1.000000f;
  cloud.points[22].getVector3fMap () << -0.047553f,  0.040451f, 1.000000f;
  cloud.points[23].getVector3fMap () <<  0.047553f,  0.040451f, 1.000000f;
  cloud.points[24].getVector3fMap () << -0.029389f,  0.065451f, 1.000000f;
  cloud.points[25].getVector3fMap () <<  0.029389f,  0.065451f, 1.000000f;
  cloud.points[26].getVector3fMap () <<  0.000000f,  0.075000f, 1.000000f;
  
  normals.points[ 0].getNormalVector3fMap () << -0.293893f, -0.309017f, -0.904509f;
  normals.points[ 1].getNormalVector3fMap () <<  0.293893f, -0.309017f, -0.904508f;
  normals.points[ 2].getNormalVector3fMap () << -0.293893f,  0.309017f, -0.904509f;
  normals.points[ 3].getNormalVector3fMap () <<  0.293893f,  0.309017f, -0.904508f;
  normals.points[ 4].getNormalVector3fMap () << -0.181636f, -0.809017f, -0.559017f;
  normals.points[ 5].getNormalVector3fMap () <<  0.181636f, -0.809017f, -0.559017f;
  normals.points[ 6].getNormalVector3fMap () << -0.769421f, -0.309017f, -0.559017f;
  normals.points[ 7].getNormalVector3fMap () <<  0.769421f, -0.309017f, -0.559017f;
  normals.points[ 8].getNormalVector3fMap () << -0.769421f,  0.309017f, -0.559017f;
  normals.points[ 9].getNormalVector3fMap () <<  0.769421f,  0.309017f, -0.559017f;
  normals.points[10].getNormalVector3fMap () << -0.181636f,  0.809017f, -0.559017f;
  normals.points[11].getNormalVector3fMap () <<  0.181636f,  0.809017f, -0.559017f;
  normals.points[12].getNormalVector3fMap () << -0.475528f, -0.809017f, -0.345491f;
  normals.points[13].getNormalVector3fMap () <<  0.475528f, -0.809017f, -0.345491f;
  normals.points[14].getNormalVector3fMap () << -0.475528f,  0.809017f, -0.345491f;
  normals.points[15].getNormalVector3fMap () <<  0.475528f,  0.809017f, -0.345491f;
  normals.points[16].getNormalVector3fMap () << -0.000000f, -1.000000f,  0.000000f;
  normals.points[17].getNormalVector3fMap () <<  0.000000f, -1.000000f,  0.000000f;
  normals.points[18].getNormalVector3fMap () << -0.587785f, -0.809017f,  0.000000f;
  normals.points[19].getNormalVector3fMap () <<  0.587785f, -0.809017f,  0.000000f;
  normals.points[20].getNormalVector3fMap () << -0.951057f, -0.309017f,  0.000000f;
  normals.points[21].getNormalVector3fMap () <<  0.951057f, -0.309017f,  0.000000f;
  normals.points[22].getNormalVector3fMap () << -0.951057f,  0.309017f,  0.000000f;
  normals.points[23].getNormalVector3fMap () <<  0.951057f,  0.309017f,  0.000000f;
  normals.points[24].getNormalVector3fMap () << -0.587785f,  0.809017f,  0.000000f;
  normals.points[25].getNormalVector3fMap () <<  0.587785f,  0.809017f,  0.000000f;
  normals.points[26].getNormalVector3fMap () <<  0.000000f,  1.000000f,  0.000000f;
  
  // Create a shared sphere model pointer directly
  SampleConsensusModelNormalSpherePtr model (new SampleConsensusModelNormalSphere<PointXYZ, Normal> (cloud.makeShared ()));
  model->setInputNormals(normals.makeShared ());

  // Create the RANSAC object
  RandomSampleConsensus<PointXYZ> sac (model, 0.03);

  // Algorithm tests
  bool result = sac.computeModel ();
  ASSERT_TRUE (result);

  std::vector<int> sample;
  sac.getModel (sample);
  EXPECT_EQ (4, sample.size ());

  std::vector<int> inliers;
  sac.getInliers (inliers);
  EXPECT_EQ (27, inliers.size ());

  Eigen::VectorXf coeff;
  sac.getModelCoefficients (coeff);
  EXPECT_EQ (4, coeff.size ());
  EXPECT_NEAR (0.0, coeff[0],   1e-2);
  EXPECT_NEAR (0.025, coeff[1], 1e-2);
  EXPECT_NEAR (1.0, coeff[2],   1e-2);
  EXPECT_NEAR (0.05, coeff[3],  1e-2);
  Eigen::VectorXf coeff_refined;
  model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
  EXPECT_EQ (4, coeff_refined.size ());
  EXPECT_NEAR (0.0, coeff_refined[0],   1e-2);
  EXPECT_NEAR (0.025, coeff_refined[1], 1e-2);
  EXPECT_NEAR (1.0, coeff_refined[2],   1e-2);
  EXPECT_NEAR (0.05, coeff_refined[3],  1e-2);	 
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (RANSAC, SampleConsensusModelCone)
{
  srand (0);

  // Use a custom point cloud for these tests until we need something better
  PointCloud<PointXYZ> cloud;
  PointCloud<Normal> normals;
  cloud.points.resize (31); normals.points.resize (31);

  cloud.points[ 0].getVector3fMap () << -0.011247f, 0.200000f, 0.965384f;
  cloud.points[ 1].getVector3fMap () <<  0.000000f, 0.200000f, 0.963603f;
  cloud.points[ 2].getVector3fMap () <<  0.011247f, 0.200000f, 0.965384f;
  cloud.points[ 3].getVector3fMap () << -0.016045f, 0.175000f, 0.977916f;
  cloud.points[ 4].getVector3fMap () << -0.008435f, 0.175000f, 0.974038f;
  cloud.points[ 5].getVector3fMap () <<  0.004218f, 0.175000f, 0.973370f;
  cloud.points[ 6].getVector3fMap () <<  0.016045f, 0.175000f, 0.977916f;
  cloud.points[ 7].getVector3fMap () << -0.025420f, 0.200000f, 0.974580f;
  cloud.points[ 8].getVector3fMap () <<  0.025420f, 0.200000f, 0.974580f;
  cloud.points[ 9].getVector3fMap () << -0.012710f, 0.150000f, 0.987290f;
  cloud.points[10].getVector3fMap () << -0.005624f, 0.150000f, 0.982692f;
  cloud.points[11].getVector3fMap () <<  0.002812f, 0.150000f, 0.982247f;
  cloud.points[12].getVector3fMap () <<  0.012710f, 0.150000f, 0.987290f;
  cloud.points[13].getVector3fMap () << -0.022084f, 0.175000f, 0.983955f;
  cloud.points[14].getVector3fMap () <<  0.022084f, 0.175000f, 0.983955f;
  cloud.points[15].getVector3fMap () << -0.034616f, 0.200000f, 0.988753f;
  cloud.points[16].getVector3fMap () <<  0.034616f, 0.200000f, 0.988753f;
  cloud.points[17].getVector3fMap () << -0.006044f, 0.125000f, 0.993956f;
  cloud.points[18].getVector3fMap () <<  0.004835f, 0.125000f, 0.993345f;
  cloud.points[19].getVector3fMap () << -0.017308f, 0.150000f, 0.994376f;
  cloud.points[20].getVector3fMap () <<  0.017308f, 0.150000f, 0.994376f;
  cloud.points[21].getVector3fMap () << -0.025962f, 0.175000f, 0.991565f;
  cloud.points[22].getVector3fMap () <<  0.025962f, 0.175000f, 0.991565f;
  cloud.points[23].getVector3fMap () << -0.009099f, 0.125000f, 1.000000f;
  cloud.points[24].getVector3fMap () <<  0.009099f, 0.125000f, 1.000000f;
  cloud.points[25].getVector3fMap () << -0.018199f, 0.150000f, 1.000000f;
  cloud.points[26].getVector3fMap () <<  0.018199f, 0.150000f, 1.000000f;
  cloud.points[27].getVector3fMap () << -0.027298f, 0.175000f, 1.000000f;
  cloud.points[28].getVector3fMap () <<  0.027298f, 0.175000f, 1.000000f;
  cloud.points[29].getVector3fMap () << -0.036397f, 0.200000f, 1.000000f;
  cloud.points[30].getVector3fMap () <<  0.036397f, 0.200000f, 1.000000f;

  normals.points[ 0].getNormalVector3fMap () << -0.290381f, -0.342020f, -0.893701f;
  normals.points[ 1].getNormalVector3fMap () <<  0.000000f, -0.342020f, -0.939693f;
  normals.points[ 2].getNormalVector3fMap () <<  0.290381f, -0.342020f, -0.893701f;
  normals.points[ 3].getNormalVector3fMap () << -0.552338f, -0.342020f, -0.760227f;
  normals.points[ 4].getNormalVector3fMap () << -0.290381f, -0.342020f, -0.893701f;
  normals.points[ 5].getNormalVector3fMap () <<  0.145191f, -0.342020f, -0.916697f;
  normals.points[ 6].getNormalVector3fMap () <<  0.552337f, -0.342020f, -0.760227f;
  normals.points[ 7].getNormalVector3fMap () << -0.656282f, -0.342020f, -0.656283f;
  normals.points[ 8].getNormalVector3fMap () <<  0.656282f, -0.342020f, -0.656283f;
  normals.points[ 9].getNormalVector3fMap () << -0.656283f, -0.342020f, -0.656282f;
  normals.points[10].getNormalVector3fMap () << -0.290381f, -0.342020f, -0.893701f;
  normals.points[11].getNormalVector3fMap () <<  0.145191f, -0.342020f, -0.916697f;
  normals.points[12].getNormalVector3fMap () <<  0.656282f, -0.342020f, -0.656282f;
  normals.points[13].getNormalVector3fMap () << -0.760228f, -0.342020f, -0.552337f;
  normals.points[14].getNormalVector3fMap () <<  0.760228f, -0.342020f, -0.552337f;
  normals.points[15].getNormalVector3fMap () << -0.893701f, -0.342020f, -0.290380f;
  normals.points[16].getNormalVector3fMap () <<  0.893701f, -0.342020f, -0.290380f;
  normals.points[17].getNormalVector3fMap () << -0.624162f, -0.342020f, -0.624162f;
  normals.points[18].getNormalVector3fMap () <<  0.499329f, -0.342020f, -0.687268f;
  normals.points[19].getNormalVector3fMap () << -0.893701f, -0.342020f, -0.290380f;
  normals.points[20].getNormalVector3fMap () <<  0.893701f, -0.342020f, -0.290380f;
  normals.points[21].getNormalVector3fMap () << -0.893701f, -0.342020f, -0.290381f;
  normals.points[22].getNormalVector3fMap () <<  0.893701f, -0.342020f, -0.290381f;
  normals.points[23].getNormalVector3fMap () << -0.939693f, -0.342020f,  0.000000f;
  normals.points[24].getNormalVector3fMap () <<  0.939693f, -0.342020f,  0.000000f;
  normals.points[25].getNormalVector3fMap () << -0.939693f, -0.342020f,  0.000000f;
  normals.points[26].getNormalVector3fMap () <<  0.939693f, -0.342020f,  0.000000f;
  normals.points[27].getNormalVector3fMap () << -0.939693f, -0.342020f,  0.000000f;
  normals.points[28].getNormalVector3fMap () <<  0.939693f, -0.342020f,  0.000000f;
  normals.points[29].getNormalVector3fMap () << -0.939693f, -0.342020f,  0.000000f;
  normals.points[30].getNormalVector3fMap () <<  0.939693f, -0.342020f,  0.000000f;


  // Create a shared cylinder model pointer directly
  SampleConsensusModelConePtr model (new SampleConsensusModelCone<PointXYZ, Normal> (cloud.makeShared ()));
  model->setInputNormals (normals.makeShared ());

  // Create the RANSAC object
  RandomSampleConsensus<PointXYZ> sac (model, 0.03);

  // Algorithm tests
  bool result = sac.computeModel ();
  ASSERT_TRUE (result);

  std::vector<int> sample;
  sac.getModel (sample);
  EXPECT_EQ (3, sample.size ());

  std::vector<int> inliers;
  sac.getInliers (inliers);
  EXPECT_EQ (31, inliers.size ());

  Eigen::VectorXf coeff;
  sac.getModelCoefficients (coeff);
  EXPECT_EQ (7, coeff.size ());
  EXPECT_NEAR (0,  coeff[0], 1e-2);
  EXPECT_NEAR (0.1,  coeff[1],  1e-2);
  EXPECT_NEAR (0.349066,  coeff[6], 1e-2);

  Eigen::VectorXf coeff_refined;
  model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
  EXPECT_EQ (7, coeff_refined.size ());
  EXPECT_NEAR (0.349066 , coeff_refined[6], 1e-2);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (RANSAC, SampleConsensusModelCylinder)
{
  srand (0);

  // Use a custom point cloud for these tests until we need something better
  PointCloud<PointXYZ> cloud;
  PointCloud<Normal> normals;
  cloud.points.resize (20); normals.points.resize (20);

  cloud.points[ 0].getVector3fMap () << -0.499902f, 2.199701f, 0.000008f;
  cloud.points[ 1].getVector3fMap () << -0.875397f, 2.030177f, 0.050104f;
  cloud.points[ 2].getVector3fMap () << -0.995875f, 1.635973f, 0.099846f;
  cloud.points[ 3].getVector3fMap () << -0.779523f, 1.285527f, 0.149961f;
  cloud.points[ 4].getVector3fMap () << -0.373285f, 1.216488f, 0.199959f;
  cloud.points[ 5].getVector3fMap () << -0.052893f, 1.475973f, 0.250101f;
  cloud.points[ 6].getVector3fMap () << -0.036558f, 1.887591f, 0.299839f;
  cloud.points[ 7].getVector3fMap () << -0.335048f, 2.171994f, 0.350001f;
  cloud.points[ 8].getVector3fMap () << -0.745456f, 2.135528f, 0.400072f;
  cloud.points[ 9].getVector3fMap () << -0.989282f, 1.803311f, 0.449983f;
  cloud.points[10].getVector3fMap () << -0.900651f, 1.400701f, 0.500126f;
  cloud.points[11].getVector3fMap () << -0.539658f, 1.201468f, 0.550079f;
  cloud.points[12].getVector3fMap () << -0.151875f, 1.340951f, 0.599983f;
  cloud.points[13].getVector3fMap () << -0.000724f, 1.724373f, 0.649882f;
  cloud.points[14].getVector3fMap () << -0.188573f, 2.090983f, 0.699854f;
  cloud.points[15].getVector3fMap () << -0.587925f, 2.192257f, 0.749956f;
  cloud.points[16].getVector3fMap () << -0.927724f, 1.958846f, 0.800008f;
  cloud.points[17].getVector3fMap () << -0.976888f, 1.549655f, 0.849970f;
  cloud.points[18].getVector3fMap () << -0.702003f, 1.242707f, 0.899954f;
  cloud.points[19].getVector3fMap () << -0.289916f, 1.246296f, 0.950075f;

  normals.points[ 0].getNormalVector3fMap () <<  0.000098f,  1.000098f,  0.000008f;
  normals.points[ 1].getNormalVector3fMap () << -0.750891f,  0.660413f,  0.000104f;
  normals.points[ 2].getNormalVector3fMap () << -0.991765f, -0.127949f, -0.000154f;
  normals.points[ 3].getNormalVector3fMap () << -0.558918f, -0.829439f, -0.000039f;
  normals.points[ 4].getNormalVector3fMap () <<  0.253627f, -0.967447f, -0.000041f;
  normals.points[ 5].getNormalVector3fMap () <<  0.894105f, -0.447965f,  0.000101f;
  normals.points[ 6].getNormalVector3fMap () <<  0.926852f,  0.375543f, -0.000161f;
  normals.points[ 7].getNormalVector3fMap () <<  0.329948f,  0.943941f,  0.000001f;
  normals.points[ 8].getNormalVector3fMap () << -0.490966f,  0.871203f,  0.000072f;
  normals.points[ 9].getNormalVector3fMap () << -0.978507f,  0.206425f, -0.000017f;
  normals.points[10].getNormalVector3fMap () << -0.801227f, -0.598534f,  0.000126f;
  normals.points[11].getNormalVector3fMap () << -0.079447f, -0.996697f,  0.000079f;
  normals.points[12].getNormalVector3fMap () <<  0.696154f, -0.717889f, -0.000017f;
  normals.points[13].getNormalVector3fMap () <<  0.998685f,  0.048502f, -0.000118f;
  normals.points[14].getNormalVector3fMap () <<  0.622933f,  0.782133f, -0.000146f;
  normals.points[15].getNormalVector3fMap () << -0.175948f,  0.984480f, -0.000044f;
  normals.points[16].getNormalVector3fMap () << -0.855476f,  0.517824f,  0.000008f;
  normals.points[17].getNormalVector3fMap () << -0.953769f, -0.300571f, -0.000030f;
  normals.points[18].getNormalVector3fMap () << -0.404035f, -0.914700f, -0.000046f;
  normals.points[19].getNormalVector3fMap () <<  0.420154f, -0.907445f,  0.000075f;

  // Create a shared cylinder model pointer directly
  SampleConsensusModelCylinderPtr model (new SampleConsensusModelCylinder<PointXYZ, Normal> (cloud.makeShared ()));
  model->setInputNormals (normals.makeShared ());

  // Create the RANSAC object
  RandomSampleConsensus<PointXYZ> sac (model, 0.03);

  // Algorithm tests
  bool result = sac.computeModel ();
  ASSERT_TRUE (result);

  std::vector<int> sample;
  sac.getModel (sample);
  EXPECT_EQ (2, sample.size ());

  std::vector<int> inliers;
  sac.getInliers (inliers);
  EXPECT_EQ (20, inliers.size ());

  Eigen::VectorXf coeff;
  sac.getModelCoefficients (coeff);
  EXPECT_EQ (7, coeff.size ());
  EXPECT_NEAR (-0.5, coeff[0], 1e-3);
  EXPECT_NEAR (1.7,  coeff[1],  1e-3);
  EXPECT_NEAR (0.5,  coeff[6], 1e-3);

  Eigen::VectorXf coeff_refined;
  model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
  EXPECT_EQ (7, coeff_refined.size ());
  EXPECT_NEAR (0.5, coeff_refined[6], 1e-3);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (RANSAC, SampleConsensusModelCircle2D)
{
  srand (0);

  // Use a custom point cloud for these tests until we need something better
  PointCloud<PointXYZ> cloud;
  cloud.points.resize (18);

  cloud.points[ 0].getVector3fMap () << 3.587751f, -4.190982f, 0.0f;
  cloud.points[ 1].getVector3fMap () << 3.808883f, -4.412265f, 0.0f;
  cloud.points[ 2].getVector3fMap () << 3.587525f, -5.809143f, 0.0f;
  cloud.points[ 3].getVector3fMap () << 2.999913f, -5.999980f, 0.0f;
  cloud.points[ 4].getVector3fMap () << 2.412224f, -5.809090f, 0.0f;
  cloud.points[ 5].getVector3fMap () << 2.191080f, -5.587682f, 0.0f;
  cloud.points[ 6].getVector3fMap () << 2.048941f, -5.309003f, 0.0f;
  cloud.points[ 7].getVector3fMap () << 2.000397f, -4.999944f, 0.0f;
  cloud.points[ 8].getVector3fMap () << 2.999953f, -6.000056f, 0.0f;
  cloud.points[ 9].getVector3fMap () << 2.691127f, -5.951136f, 0.0f;
  cloud.points[10].getVector3fMap () << 2.190892f, -5.587838f, 0.0f;
  cloud.points[11].getVector3fMap () << 2.048874f, -5.309052f, 0.0f;
  cloud.points[12].getVector3fMap () << 1.999990f, -5.000147f, 0.0f;
  cloud.points[13].getVector3fMap () << 2.049026f, -4.690918f, 0.0f;
  cloud.points[14].getVector3fMap () << 2.190956f, -4.412162f, 0.0f;
  cloud.points[15].getVector3fMap () << 2.412231f, -4.190918f, 0.0f;
  cloud.points[16].getVector3fMap () << 2.691027f, -4.049060f, 0.0f;
  cloud.points[17].getVector3fMap () << 2.000000f, -3.000000f, 0.0f;

  // Create a shared 2d circle model pointer directly
  SampleConsensusModelCircle2DPtr model (new SampleConsensusModelCircle2D<PointXYZ> (cloud.makeShared ()));

  // Create the RANSAC object
  RandomSampleConsensus<PointXYZ> sac (model, 0.03);

  // Algorithm tests
  bool result = sac.computeModel ();
  ASSERT_TRUE (result);

  std::vector<int> sample;
  sac.getModel (sample);
  EXPECT_EQ (3, sample.size ());

  std::vector<int> inliers;
  sac.getInliers (inliers);
  EXPECT_EQ (17, inliers.size ());

  Eigen::VectorXf coeff;
  sac.getModelCoefficients (coeff);
  EXPECT_EQ (3, coeff.size ());
  EXPECT_NEAR (3,  coeff[0], 1e-3);
  EXPECT_NEAR (-5, coeff[1], 1e-3);
  EXPECT_NEAR (1,  coeff[2], 1e-3);

  Eigen::VectorXf coeff_refined;
  model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
  EXPECT_EQ (3, coeff_refined.size ());
  EXPECT_NEAR (3,  coeff_refined[0], 1e-3);
  EXPECT_NEAR (-5, coeff_refined[1], 1e-3);
  EXPECT_NEAR (1,  coeff_refined[2], 1e-3);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (RANSAC, SampleConsensusModelCircle3D)
{
  srand (0);

  // Use a custom point cloud for these tests until we need something better
  PointCloud<PointXYZ> cloud;
  cloud.points.resize (20);

  cloud.points[ 0].getVector3fMap () << 1.00000000f, 5.0000000f, -2.9000001f;
  cloud.points[ 1].getVector3fMap () << 1.03420200f, 5.0000000f, -2.9060307f;
  cloud.points[ 2].getVector3fMap () << 1.06427870f, 5.0000000f, -2.9233956f;
  cloud.points[ 3].getVector3fMap () << 1.08660260f, 5.0000000f, -2.9500000f;
  cloud.points[ 4].getVector3fMap () << 1.09848080f, 5.0000000f, -2.9826353f;
  cloud.points[ 5].getVector3fMap () << 1.09848080f, 5.0000000f, -3.0173647f;
  cloud.points[ 6].getVector3fMap () << 1.08660260f, 5.0000000f, -3.0500000f;
  cloud.points[ 7].getVector3fMap () << 1.06427870f, 5.0000000f, -3.0766044f;
  cloud.points[ 8].getVector3fMap () << 1.03420200f, 5.0000000f, -3.0939693f;
  cloud.points[ 9].getVector3fMap () << 1.00000000f, 5.0000000f, -3.0999999f;
  cloud.points[10].getVector3fMap () << 0.96579796f, 5.0000000f, -3.0939693f;
  cloud.points[11].getVector3fMap () << 0.93572122f, 5.0000000f, -3.0766044f;
  cloud.points[12].getVector3fMap () << 0.91339743f, 5.0000000f, -3.0500000f;
  cloud.points[13].getVector3fMap () << 0.90151924f, 5.0000000f, -3.0173647f;
  cloud.points[14].getVector3fMap () << 0.90151924f, 5.0000000f, -2.9826353f;
  cloud.points[15].getVector3fMap () << 0.91339743f, 5.0000000f, -2.9500000f;
  cloud.points[16].getVector3fMap () << 0.93572122f, 5.0000000f, -2.9233956f;
  cloud.points[17].getVector3fMap () << 0.96579796f, 5.0000000f, -2.9060307f;
  cloud.points[18].getVector3fMap () << 0.85000002f, 4.8499999f, -3.1500001f;
  cloud.points[19].getVector3fMap () << 1.15000000f, 5.1500001f, -2.8499999f;

  // Create a shared 3d circle model pointer directly
  SampleConsensusModelCircle3DPtr model (new SampleConsensusModelCircle3D<PointXYZ> (cloud.makeShared ()));

  // Create the RANSAC object
  RandomSampleConsensus<PointXYZ> sac (model, 0.03);

  // Algorithm tests
  bool result = sac.computeModel ();
  ASSERT_TRUE (result);

  std::vector<int> sample;
  sac.getModel (sample);
  EXPECT_EQ (3, sample.size ());

  std::vector<int> inliers;
  sac.getInliers (inliers);
  EXPECT_EQ (18, inliers.size ());

  Eigen::VectorXf coeff;
  sac.getModelCoefficients (coeff);
  EXPECT_EQ (7, coeff.size ());
  EXPECT_NEAR (1,  coeff[0], 1e-3);
  EXPECT_NEAR (5,  coeff[1], 1e-3);
  EXPECT_NEAR (-3, coeff[2], 1e-3);
  EXPECT_NEAR (0.1,coeff[3], 1e-3);
  EXPECT_NEAR (0,  coeff[4], 1e-3);
  EXPECT_NEAR (-1, coeff[5], 1e-3);
  EXPECT_NEAR (0,  coeff[6], 1e-3);

  Eigen::VectorXf coeff_refined;
  model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
  EXPECT_EQ (7, coeff_refined.size ());
  EXPECT_NEAR (1,  coeff_refined[0], 1e-3);
  EXPECT_NEAR (5,  coeff_refined[1], 1e-3);
  EXPECT_NEAR (-3, coeff_refined[2], 1e-3);
  EXPECT_NEAR (0.1,coeff_refined[3], 1e-3);
  EXPECT_NEAR (0,  coeff_refined[4], 1e-3);
  EXPECT_NEAR (-1, coeff_refined[5], 1e-3);
  EXPECT_NEAR (0,  coeff_refined[6], 1e-3);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (RANSAC, SampleConsensusModelLine)
{
  srand (0);

  // Use a custom point cloud for these tests until we need something better
  PointCloud<PointXYZ> cloud;
  cloud.points.resize (10);

  cloud.points[0].getVector3fMap () <<  1.0f,  2.00f,  3.00f;
  cloud.points[1].getVector3fMap () <<  4.0f,  5.00f,  6.00f;
  cloud.points[2].getVector3fMap () <<  7.0f,  8.00f,  9.00f;
  cloud.points[3].getVector3fMap () << 10.0f, 11.00f, 12.00f;
  cloud.points[4].getVector3fMap () << 13.0f, 14.00f, 15.00f;
  cloud.points[5].getVector3fMap () << 16.0f, 17.00f, 18.00f;
  cloud.points[6].getVector3fMap () << 19.0f, 20.00f, 21.00f;
  cloud.points[7].getVector3fMap () << 22.0f, 23.00f, 24.00f;
  cloud.points[8].getVector3fMap () << -5.0f,  1.57f,  0.75f;
  cloud.points[9].getVector3fMap () <<  4.0f,  2.00f,  3.00f;

  // Create a shared line model pointer directly
  SampleConsensusModelLinePtr model (new SampleConsensusModelLine<PointXYZ> (cloud.makeShared ()));

  // Create the RANSAC object
  RandomSampleConsensus<PointXYZ> sac (model, 0.001);

  // Algorithm tests
  bool result = sac.computeModel ();
  ASSERT_TRUE (result);

  std::vector<int> sample;
  sac.getModel (sample);
  EXPECT_EQ (2, sample.size ());

  std::vector<int> inliers;
  sac.getInliers (inliers);
  EXPECT_EQ (8, inliers.size ());

  Eigen::VectorXf coeff;
  sac.getModelCoefficients (coeff);
  EXPECT_EQ (6, coeff.size ());
  EXPECT_NEAR (1, coeff[4]/coeff[3], 1e-4);
  EXPECT_NEAR (1, coeff[5]/coeff[3], 1e-4);

  Eigen::VectorXf coeff_refined;
  model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
  EXPECT_EQ (6, coeff_refined.size ());
  EXPECT_NEAR (1, coeff[4]/coeff[3], 1e-4);
  EXPECT_NEAR (1, coeff[5]/coeff[3], 1e-4);

  // Projection tests
  PointCloud<PointXYZ> proj_points;
  model->projectPoints (inliers, coeff_refined, proj_points);

  EXPECT_NEAR (7.0, proj_points.points[2].x, 1e-4);
  EXPECT_NEAR (8.0, proj_points.points[2].y, 1e-4);
  EXPECT_NEAR (9.0, proj_points.points[2].z, 1e-4);

  EXPECT_NEAR (10.0, proj_points.points[3].x, 1e-4);
  EXPECT_NEAR (11.0, proj_points.points[3].y, 1e-4);
  EXPECT_NEAR (12.0, proj_points.points[3].z, 1e-4);

  EXPECT_NEAR (16.0, proj_points.points[5].x, 1e-4);
  EXPECT_NEAR (17.0, proj_points.points[5].y, 1e-4);
  EXPECT_NEAR (18.0, proj_points.points[5].z, 1e-4);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (RANSAC, SampleConsensusModelNormalPlane)
{
  srand (0);
  // Create a shared plane model pointer directly
  SampleConsensusModelNormalPlanePtr model (new SampleConsensusModelNormalPlane<PointXYZ, Normal> (cloud_));
  model->setInputNormals (normals_);
  model->setNormalDistanceWeight (0.01);
  // Create the RANSAC object
  RandomSampleConsensus<PointXYZ> sac (model, 0.03);

  verifyPlaneSac (model, sac);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Test if RANSAC finishes within a second.
TEST (SAC, InfiniteLoop)
{
  const unsigned point_count = 100;
  PointCloud<PointXYZ> cloud;
  cloud.points.resize (point_count);
  for (unsigned pIdx = 0; pIdx < point_count; ++pIdx)
  {
    cloud.points[pIdx].x = static_cast<float> (pIdx);
    cloud.points[pIdx].y = 0.0;
    cloud.points[pIdx].z = 0.0;
  }

  boost::posix_time::time_duration delay(0,0,1,0);
  boost::function<bool ()> sac_function;
  SampleConsensusModelSpherePtr model (new SampleConsensusModelSphere<PointXYZ> (cloud.makeShared ()));

  // Create the RANSAC object
  RandomSampleConsensus<PointXYZ> ransac (model, 0.03);
  sac_function = boost::bind (&RandomSampleConsensus<PointXYZ>::computeModel, &ransac, 0);
  boost::thread thread1 (sac_function);
  ASSERT_TRUE(thread1.timed_join(delay));

  // Create the LMSAC object
  LeastMedianSquares<PointXYZ> lmsac (model, 0.03);
  sac_function = boost::bind (&LeastMedianSquares<PointXYZ>::computeModel, &lmsac, 0);
  boost::thread thread2 (sac_function);
  ASSERT_TRUE(thread2.timed_join(delay));

  // Create the MSAC object
  MEstimatorSampleConsensus<PointXYZ> mesac (model, 0.03);
  sac_function = boost::bind (&MEstimatorSampleConsensus<PointXYZ>::computeModel, &mesac, 0);
  boost::thread thread3 (sac_function);
  ASSERT_TRUE(thread3.timed_join(delay));

  // Create the RRSAC object
  RandomizedRandomSampleConsensus<PointXYZ> rrsac (model, 0.03);
  sac_function = boost::bind (&RandomizedRandomSampleConsensus<PointXYZ>::computeModel, &rrsac, 0);
  boost::thread thread4 (sac_function);
  ASSERT_TRUE(thread4.timed_join(delay));

  // Create the RMSAC object
  RandomizedMEstimatorSampleConsensus<PointXYZ> rmsac (model, 0.03);
  sac_function = boost::bind (&RandomizedMEstimatorSampleConsensus<PointXYZ>::computeModel, &rmsac, 0);
  boost::thread thread5 (sac_function);
  ASSERT_TRUE(thread5.timed_join(delay));

  // Create the MLESAC object
  MaximumLikelihoodSampleConsensus<PointXYZ> mlesac (model, 0.03);
  sac_function = boost::bind (&MaximumLikelihoodSampleConsensus<PointXYZ>::computeModel, &mlesac, 0);
  boost::thread thread6 (sac_function);
  ASSERT_TRUE(thread6.timed_join(delay));
}

/* ---[ */
int
  main (int argc, char** argv)
{
  if (argc < 2)
  {
    std::cerr << "No test file given. Please download `sac_plane_test.pcd` and pass its path to the test." << std::endl;
    return (-1);
  }

  // Load a standard PCD file from disk
  pcl::PCLPointCloud2 cloud_blob;
  if (loadPCDFile (argv[1], cloud_blob) < 0)
  {
    std::cerr << "Failed to read test file. Please download `sac_plane_test.pcd` and pass its path to the test." << std::endl;
    return (-1);
  }
  fromPCLPointCloud2 (cloud_blob, *cloud_);

  indices_.resize (cloud_->points.size ());
  for (size_t i = 0; i < indices_.size (); ++i) { indices_[i] = int (i); }

  // Estimate surface normals
  NormalEstimation<PointXYZ, Normal> n;
  search::Search<PointXYZ>::Ptr tree (new search::KdTree<PointXYZ>);
  tree->setInputCloud (cloud_);
  n.setInputCloud (cloud_);
  boost::shared_ptr<vector<int> > indicesptr (new vector<int> (indices_));
  n.setIndices (indicesptr);
  n.setSearchMethod (tree);
  n.setRadiusSearch (0.02);    // Use 2cm radius to estimate the normals
  n.compute (*normals_);

  testing::InitGoogleTest (&argc, argv);
  return (RUN_ALL_TESTS ());
}
/* ]--- */