Added test for DistanceLimitDataPointsFilter.

norlab-ulaval · Jul 30, 2018 · 124d7df · 124d7df
1 parent 3bf7628
commit 124d7df
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diff --git a/examples/data/icp_data/defaultDistanceLimitDataPointsFilter.ref_trans b/examples/data/icp_data/defaultDistanceLimitDataPointsFilter.ref_trans
@@ -0,0 +1,4 @@
+0.9801148772239685 -0.1606823354959488 0.1164287924766541 -0.1039974689483643
+0.1777812242507935 0.9716974496841431 -0.1555580049753189 -0.216127872467041
+-0.08813809603452682 0.173163577914238 0.9809413552284241 -0.05247235298156738
+         0          0          0          1
diff --git a/examples/data/icp_data/defaultDistanceLimitDataPointsFilter.yaml b/examples/data/icp_data/defaultDistanceLimitDataPointsFilter.yaml
@@ -0,0 +1,39 @@
+readingDataPointsFilters:
+  - DistanceLimitDataPointsFilter:
+      dist: 200
+
+referenceDataPointsFilters:
+  - SamplingSurfaceNormalDataPointsFilter:
+      knn: 10
+      ratio: 0.666666
+      samplingMethod: 1
+      averageExistingDescriptors: 0
+
+matcher:
+  KDTreeMatcher:
+    knn: 1
+    epsilon: 0 
+
+outlierFilters:
+  - TrimmedDistOutlierFilter:
+      ratio: 0.75
+
+errorMinimizer:
+  PointToPlaneErrorMinimizer
+
+transformationCheckers:
+  - CounterTransformationChecker:
+      maxIterationCount: 40
+  - DifferentialTransformationChecker:
+      minDiffRotErr: 0.001
+      minDiffTransErr: 0.01
+      smoothLength: 4   
+
+inspector:
+  NullInspector
+#  VTKFileInspector
+
+logger:
+  NullLogger
+#  FileLogger
+
diff --git a/utest/ui/DataFilters.cpp b/utest/ui/DataFilters.cpp
@@ -729,3 +729,79 @@ TEST_F(DataFilterTest, CutAtDescriptorThresholdDataPointsFilter)
 		}
 	}
 }
+
+TEST_F(DataFilterTest, DistanceLimitDataPointsFilter)
+{
+	params = PM::Parameters();
+	params["dim"] = "0";
+	params["dist"] = toParam(6.0);
+	params["removeInside"] = "0";
+
+	// Filter on x axis
+	params["dim"] = "0";
+	icp.readingDataPointsFilters.clear();
+	addFilter("DistanceLimitDataPointsFilter", params);
+	validate2dTransformation();
+	validate3dTransformation();
+
+	// Filter on y axis
+	params["dim"] = "1";
+	icp.readingDataPointsFilters.clear();
+	addFilter("DistanceLimitDataPointsFilter", params);
+	validate2dTransformation();
+	validate3dTransformation();
+
+	// Filter on z axis (not existing)
+	params["dim"] = "2";
+	icp.readingDataPointsFilters.clear();
+	addFilter("DistanceLimitDataPointsFilter", params);
+	EXPECT_ANY_THROW(validate2dTransformation());
+	validate3dTransformation();
+
+	// Filter on a radius
+	params["dim"] = "-1";
+	icp.readingDataPointsFilters.clear();
+	addFilter("DistanceLimitDataPointsFilter", params);
+	validate2dTransformation();
+	validate3dTransformation();
+
+	// Parameter outside valid range
+	params["dim"] = "3";
+	//TODO: specify the exception, move that to GenericTest
+	EXPECT_ANY_THROW(addFilter("DistanceLimitDataPointsFilter", params));
+
+
+	params = PM::Parameters();
+	params["dim"] = "0";
+	params["dist"] = toParam(0.05);
+	params["removeInside"] = "1";
+
+	// Filter on x axis
+	params["dim"] = "0";
+	icp.readingDataPointsFilters.clear();
+	addFilter("DistanceLimitDataPointsFilter", params);
+	validate2dTransformation();
+	validate3dTransformation();
+
+	// Filter on y axis
+	params["dim"] = "1";
+	icp.readingDataPointsFilters.clear();
+	addFilter("DistanceLimitDataPointsFilter", params);
+	validate2dTransformation();
+	validate3dTransformation();
+
+	//TODO: move that to specific 2D test
+	// Filter on z axis (not existing)
+	params["dim"] = "2";
+	icp.readingDataPointsFilters.clear();
+	addFilter("DistanceLimitDataPointsFilter", params);
+	EXPECT_ANY_THROW(validate2dTransformation());
+	validate3dTransformation();
+
+	// Filter on a radius
+	params["dim"] = "-1";
+	icp.readingDataPointsFilters.clear();
+	addFilter("DistanceLimitDataPointsFilter", params);
+	validate2dTransformation();
+	validate3dTransformation();
+}