Outliers.cpp

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#include "../utest.h"

using namespace std;
using namespace PointMatcherSupport;

//---------------------------
// Outlier modules
//---------------------------

// Utility classes
class OutlierFilterTest: public IcpHelper
{
public:
        PM::OutlierFilter* testedOutlierFilter;

        // Will be called for every tests
        virtual void SetUp()
        {
                icp.setDefault();
                // Uncomment for consol outputs
                //setLogger(PM::get().LoggerRegistrar.create("FileLogger"));
                
                icp.outlierFilters.clear();
        }

        // Will be called for every tests
        virtual void TearDown(){}

        void addFilter(string name, PM::Parameters params)
        {
                testedOutlierFilter = 
                        PM::get().OutlierFilterRegistrar.create(name, params);
                icp.outlierFilters.push_back(testedOutlierFilter);
        }

};

//No commun parameters were found for 2D and 3D, tests are splited
TEST_F(OutlierFilterTest, MaxDistOutlierFilter2D)
{
        addFilter("MaxDistOutlierFilter", map_list_of
                ("maxDist", toParam(0.015))
        );
        validate2dTransformation();
}

TEST_F(OutlierFilterTest, MaxDistOutlierFilter3D)
{
        addFilter("MaxDistOutlierFilter", map_list_of
                ("maxDist", toParam(0.1))
        );
        validate3dTransformation();
}

//No commun parameters were found for 2D and 3D, tests are splited
TEST_F(OutlierFilterTest, MinDistOutlierFilter2D)
{
        // Since not sure how useful is that filter, we keep the 
        // MaxDistOutlierFilter with it
        PM::OutlierFilter* extraOutlierFilter;
        
        extraOutlierFilter = 
                PM::get().OutlierFilterRegistrar.create(
                        "MaxDistOutlierFilter", map_list_of 
                                ("maxDist", toParam(0.015))
                )
        ;
        icp.outlierFilters.push_back(extraOutlierFilter);
        
        addFilter("MinDistOutlierFilter", map_list_of ("minDist", toParam(0.0002)) );
        
        validate2dTransformation();
}

TEST_F(OutlierFilterTest, MinDistOutlierFilter3D)
{
        // Since not sure how useful is that filter, we keep the 
        // MaxDistOutlierFilter with it
        PM::OutlierFilter* extraOutlierFilter;
        
        extraOutlierFilter = 
                PM::get().OutlierFilterRegistrar.create(
                        "MaxDistOutlierFilter", map_list_of 
                                ("maxDist", toParam(0.1))
                )
        ;
        icp.outlierFilters.push_back(extraOutlierFilter);
        
        addFilter("MinDistOutlierFilter", map_list_of ("minDist", toParam(0.0002)) );
        
        validate3dTransformation();
}

TEST_F(OutlierFilterTest, MedianDistOutlierFilter)
{
        addFilter("MedianDistOutlierFilter", map_list_of ("factor", toParam(3.5)));
        validate2dTransformation();
        validate3dTransformation();
}


TEST_F(OutlierFilterTest, TrimmedDistOutlierFilter)
{
        addFilter("TrimmedDistOutlierFilter", map_list_of ("ratio", toParam(0.85)) );
        validate2dTransformation();
        validate3dTransformation();
}


TEST_F(OutlierFilterTest, VarTrimmedDistOutlierFilter)
{
        addFilter("VarTrimmedDistOutlierFilter", map_list_of
                ("minRatio", toParam(0.60))
                ("maxRatio", toParam(0.80))
                ("lambda", toParam(0.9))
        );
        validate2dTransformation();
        validate3dTransformation();
}