3rdparty/libpointmatcher/utest/ui/Matcher.cpp

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#include "../utest.h"
 
using namespace std;
using namespace PointMatcherSupport;
 
//---------------------------
// Matcher modules
//---------------------------
 
// Utility classes
class MatcherTest: public IcpHelper
{
 
public:
 
        std::shared_ptr<PM::Matcher> testedMatcher;
 
        // Will be called for every tests
        virtual void SetUp()
        {
                icp.setDefault();
                // Uncomment for consol outputs
                //setLogger(PM::get().LoggerRegistrar.create("FileLogger"));
        }
 
        // Will be called for every tests
        virtual void TearDown(){}
 
        void addFilter(string name, PM::Parameters params)
        {
                testedMatcher = 
                        PM::get().MatcherRegistrar.create(name, params);
                icp.matcher = testedMatcher;
        }
 
};
 
TEST_F(MatcherTest, KDTreeMatcher)
{
        vector<unsigned> knn = {1, 2, 3};
        vector<double> epsilon = {0.0, 0.2};
        vector<double> maxDist = {1.0, 0.5};
 
        for(unsigned i=0; i < knn.size(); i++)
        {
                for(unsigned j=0; j < epsilon.size(); j++)
                {
                        for(unsigned k=0; k < maxDist.size(); k++)
                        {
                                params = PM::Parameters();
                                params["knn"] = toParam(knn[i]); // remove end parenthesis for bug
                                params["epsilon"] = toParam(epsilon[j]);
                                params["searchType"] = "1";
                                params["maxDist"] = toParam(maxDist[k]);
                                
                        
                                addFilter("KDTreeMatcher", params);
                                validate2dTransformation();
                                validate3dTransformation();
                        }
                }
        }
}