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Added utilite tests

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matlabbe
2025-12-21 18:51:49 -08:00
parent fdec7829f2
commit 3f71fa4755
28 changed files with 4266 additions and 159 deletions
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corelib/test/test_util3d_filtering.cpp
+12
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@@ -1168,6 +1168,17 @@ TEST(Util3dFiltering, cropBoxIncludesPointsInBox)
EXPECT_LE(x, 6.0f);
}
// Point included in the box, with z min=max (2D case)
min[2] = max[2] = 0.0f;
output = util3d::cropBox(cloud, indices, min, max, transform, negative);
ASSERT_EQ(output->size(), 4);
for (int idx : *output) {
float x = cloud->points[idx].x;
EXPECT_GE(x, 3.0f);
EXPECT_LE(x, 6.0f);
}
// Point excluded from the box
negative = true;
output = util3d::cropBox(cloud, indices, min, max, transform, negative);
@@ -1197,6 +1208,7 @@ TEST(Util3dFiltering, cropBoxInvalidBoundsTriggerAssertion)
using PointT = pcl::PointXYZ;
pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>);
cloud->points.emplace_back(0.0f, 0.0f, 0.0f);
cloud->points.emplace_back(0.0f, 1.0f, 0.0f);
pcl::IndicesPtr indices = nullptr;
Eigen::Vector4f min(5.0f, 0.0f, 0.0f, 1.0f);