10 #include <gtest/gtest.h>
15 const double map2_x_off,
const double map2_tim_off,
16 const size_t expected_m1_count,
const size_t expected_m2_count)
18 const double pts1[8][3] = {
19 {1, 0, 0}, {1.03, 0, 0}, {1, 1, 0}, {1.01, 1.02, 0},
20 {0, 1, 0}, {-0.01, 1.01, 0}, {-1, 0, 0}, {-1.01, 0.02, 0}};
29 for (
const auto& i : pts1) map1.
insertPoint(i[0], i[1], i[2]);
30 for (
size_t i = 0; i <
sizeof(pts1) /
sizeof(pts1[0]); i++)
34 pts1[i][0], pts1[i][1], pts1[i][2], x, y, z);
36 if (i == 1) x += map2_x_off;
42 std::vector<bool> deletion_mask;
45 pc_filter.
filter(&map1, pts1_tim, pts1_pose, &extra_params);
48 pc_filter.
filter(&map2, pts2_tim, pts2_pose, &extra_params);
52 TEST(CPointCloudFilterByDistance, noOutliers)
58 TEST(CPointCloudFilterByDistance, withOutliers)
64 TEST(CPointCloudFilterByDistance, tooOldMap)