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fixing some appveyor CI errors, added test to check dictionary serialization against all type

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matlabbe
2025-12-23 09:52:21 -08:00
parent f7cb330e31
commit 837b08a4f3
3 changed files with 142 additions and 45 deletions
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corelib/test/test_util3d_surface.cpp
+24
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@@ -35,21 +35,33 @@ TEST(Util3dSurface, computeNormalsComplexityVaryingNormals3D)
EXPECT_NEAR(complexity, 0.0f, 1e-3);
pcl::PointCloud<pcl::PointNormal> cloudA;
#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
pcl::concatenate(floor, wallA, cloudA);
#else
pcl::concatenatePointCloud(floor, wallA, cloudA);
#endif
// Two perpendicular surfaces
complexity = util3d::computeNormalsComplexity(cloudA);
EXPECT_NEAR(complexity, 0.0f, 1e-3);
// Three perpendicular surfaces
pcl::PointCloud<pcl::PointNormal> cloudB;
#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
pcl::concatenate(cloudA, wallB, cloudB);
#else
pcl::concatenatePointCloud(cloudA, wallB, cloudB);
#endif
complexity = util3d::computeNormalsComplexity(cloudB);
EXPECT_NEAR(complexity, 0.25f, 1e-3);
// Three perpendicular surfaces (one small)
pcl::PointCloud<pcl::PointNormal> smallCloudB;
#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
pcl::concatenate(cloudA, smallWallB, smallCloudB);
#else
pcl::concatenatePointCloud(cloudA, smallWallB, smallCloudB);
#endif
complexity = util3d::computeNormalsComplexity(smallCloudB);
EXPECT_LT(complexity, 0.25f);
@@ -96,20 +108,32 @@ TEST(Util3dSurface, computeNormalsComplexityVaryingNormals2D)
EXPECT_NEAR(complexity, 0.0f, 1e-3);
pcl::PointCloud<pcl::PointNormal> cloud;
#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
pcl::concatenate(wallA, wallB, cloud);
#else
pcl::concatenatePointCloud(wallA, wallB, cloud);
#endif
// Two perpendicular surfaces
complexity = util3d::computeNormalsComplexity(cloud, Transform(), true);
EXPECT_NEAR(complexity, 0.25f, 1e-3);
pcl::PointCloud<pcl::PointNormal> cloudB;
#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
pcl::concatenate(wallA, smalllWallB, cloudB);
#else
pcl::concatenatePointCloud(wallA, smalllWallB, cloudB);
#endif
// Two perpendicular surfaces (one small)
complexity = util3d::computeNormalsComplexity(cloudB, Transform(), true);
EXPECT_LT(complexity, 0.25f);
EXPECT_GT(complexity, 0.01f);
pcl::PointCloud<pcl::PointNormal> corridorLikeCloud;
#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
pcl::concatenate(wallA, negWallA, corridorLikeCloud);
#else
pcl::concatenatePointCloud(wallA, negWallA, corridorLikeCloud);
#endif
// Two parallel surfaces simulating a corridor
cv::Mat vector,values;
complexity = util3d::computeNormalsComplexity(corridorLikeCloud, Transform(), true, &vector, &values);