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Uncomment previously failing Transformations unit tests #532

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Uncomment previously failing Transformations unit tests #532

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e873edd
Uncomment failing Transformation tests
boxanm Nov 17, 2023
8818418
Merge branch 'develop' into eigen-3.4-tests-fix
boxanm Nov 17, 2023
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200 changes: 99 additions & 101 deletions utest/ui/Transformations.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -258,46 +258,45 @@ TEST(Transformation, ComputeRigidTransformDataPoints2D)
}
}

//// (CRITICAL) ToDo: investigate unit-test failure (ref task NMO-301)
//TEST(Transformation, ComputeRigidTransformDataPoints3D)
//{
// std::shared_ptr<PM::Transformation> transformator = PM::get().REG(Transformation).create("RigidTransformation");
//
// // Identity.
// {
// const Eigen::Matrix<NumericType, 3, 1> translation{ 0, 0, 0 };
// const Eigen::Quaternion<NumericType> rotation{ 1, 0, 0, 0 };
// const Eigen::Transform<NumericType, 3, Eigen::Affine> transformation = buildUpTransformation3D(translation, rotation);
// // Transform and assert on the result.
// assertOnDataPointsTransformation(data3D, transformation.matrix(), transformator);
// }
//
// // Pure translation.
// {
// const Eigen::Matrix<NumericType, 3, 1> translation{ -1.0001, 5, -12321.234 };
// const Eigen::Quaternion<NumericType> rotation{ 1, 0, 0, 0 };
// const Eigen::Transform<NumericType, 3, Eigen::Affine> transformation = buildUpTransformation3D(translation, rotation);
// // Transform and assert on the result.
// assertOnDataPointsTransformation(data3D, transformation.matrix(), transformator);
// }
// // Pure rotation.
// {
// const Eigen::Matrix<NumericType, 3, 1> translation{ 0, 0, 0 };
// const Eigen::Quaternion<NumericType> rotation{ 1, -5, 23, 0.5 };
// const Eigen::Transform<NumericType, 3, Eigen::Affine> transformation = buildUpTransformation3D(translation, rotation);
// // Transform and assert on the result.
// assertOnDataPointsTransformation(data3D, transformation.matrix(), transformator);
// }
// // Translation + rotation.
// {
// const NumericType kEpsilonNumericalError = 1e-6;
// const Eigen::Matrix<NumericType, 3, 1> translation{ 1, -3, -4 };
// const Eigen::Quaternion<NumericType> rotation{ 0, -2.54, 0, 0.5 };
// const Eigen::Transform<NumericType, 3, Eigen::Affine> transformation = buildUpTransformation3D(translation, rotation);
// // Transform and assert on the result.
// assertOnDataPointsTransformation(data3D, transformation.matrix(), transformator, kEpsilonNumericalError);
// }
//}
TEST(Transformation, ComputeRigidTransformDataPoints3D)
{
std::shared_ptr<PM::Transformation> transformator = PM::get().REG(Transformation).create("RigidTransformation");

// Identity.
{
const Eigen::Matrix<NumericType, 3, 1> translation{ 0, 0, 0 };
const Eigen::Quaternion<NumericType> rotation{ 1, 0, 0, 0 };
const Eigen::Transform<NumericType, 3, Eigen::Affine> transformation = buildUpTransformation3D(translation, rotation);
// Transform and assert on the result.
assertOnDataPointsTransformation(data3D, transformation.matrix(), transformator);
}

// Pure translation.
{
const Eigen::Matrix<NumericType, 3, 1> translation{ -1.0001, 5, -12321.234 };
const Eigen::Quaternion<NumericType> rotation{ 1, 0, 0, 0 };
const Eigen::Transform<NumericType, 3, Eigen::Affine> transformation = buildUpTransformation3D(translation, rotation);
// Transform and assert on the result.
assertOnDataPointsTransformation(data3D, transformation.matrix(), transformator);
}
// Pure rotation.
{
const Eigen::Matrix<NumericType, 3, 1> translation{ 0, 0, 0 };
const Eigen::Quaternion<NumericType> rotation{ 1, -5, 23, 0.5 };
const Eigen::Transform<NumericType, 3, Eigen::Affine> transformation = buildUpTransformation3D(translation, rotation);
// Transform and assert on the result.
assertOnDataPointsTransformation(data3D, transformation.matrix(), transformator);
}
// Translation + rotation.
{
const NumericType kEpsilonNumericalError = 1e-6;
const Eigen::Matrix<NumericType, 3, 1> translation{ 1, -3, -4 };
const Eigen::Quaternion<NumericType> rotation{ 0, -2.54, 0, 0.5 };
const Eigen::Transform<NumericType, 3, Eigen::Affine> transformation = buildUpTransformation3D(translation, rotation);
// Transform and assert on the result.
assertOnDataPointsTransformation(data3D, transformation.matrix(), transformator, kEpsilonNumericalError);
}
}

TEST(Transformation, ComputeSimilarityTransformDataPoints2D)
{
Expand Down Expand Up @@ -359,64 +358,63 @@ TEST(Transformation, ComputeSimilarityTransformDataPoints2D)
}
}

//// (CRITICAL) ToDo: investigate unit-test failure (ref task NMO-301)
//TEST(Transformation, ComputeSimilarityTransformDataPoints3D)
//{
// std::shared_ptr<PM::Transformation> transformator = PM::get().REG(Transformation).create("SimilarityTransformation");
//
// // Identity.
// {
// const Eigen::Matrix<NumericType, 3, 1> translation{ 0, 0, 0 };
// const Eigen::Quaternion<NumericType> rotation{ 1, 0, 0, 0 };
// const NumericType scale{ 1.0 };
// const Eigen::Transform<NumericType, 3, Eigen::Affine> transformation = buildUpTransformation3D(translation, rotation, scale);
// // Transform and assert on the result.
// assertOnDataPointsTransformation(data3D, transformation.matrix(), transformator);
// }
// // Pure Upscaling.
// {
// const Eigen::Matrix<NumericType, 3, 1> translation{ 0, 0, 0 };
// const Eigen::Quaternion<NumericType> rotation{ 1, 0, 0, 0 };
// const NumericType scale{ 5.0 };
// const Eigen::Transform<NumericType, 3, Eigen::Affine> transformation = buildUpTransformation3D(translation, rotation, scale);
// // Transform and assert on the result.
// assertOnDataPointsTransformation(data3D, transformation.matrix(), transformator);
// }
// // Pure Downscaling.
// {
// const Eigen::Matrix<NumericType, 3, 1> translation{ 0, 0, 0 };
// const Eigen::Quaternion<NumericType> rotation{ 1, 0, 0, 0 };
// const NumericType scale{ 0.1 };
// const Eigen::Transform<NumericType, 3, Eigen::Affine> transformation = buildUpTransformation3D(translation, rotation, scale);
// // Transform and assert on the result.
// assertOnDataPointsTransformation(data3D, transformation.matrix(), transformator);
// }
// // Pure translation + Downscaling.
// {
// const Eigen::Matrix<NumericType, 3, 1> translation{ -1.0001, 5, -12321.234 };
// const Eigen::Quaternion<NumericType> rotation{ 1, 0, 0, 0 };
// const NumericType scale{ 0.5 };
// const Eigen::Transform<NumericType, 3, Eigen::Affine> transformation = buildUpTransformation3D(translation, rotation, scale);
// // Transform and assert on the result.
// assertOnDataPointsTransformation(data3D, transformation.matrix(), transformator);
// }
// // Pure rotation + Upscaling.
// {
// const Eigen::Matrix<NumericType, 3, 1> translation{ 0, 0, 0 };
// const Eigen::Quaternion<NumericType> rotation{ 1, -5, 23, 0.5 };
// const NumericType scale{ 1.9 };
// const Eigen::Transform<NumericType, 3, Eigen::Affine> transformation = buildUpTransformation3D(translation, rotation, scale);
// // Transform and assert on the result.
// assertOnDataPointsTransformation(data3D, transformation.matrix(), transformator);
// }
// // Translation + rotation + Upscaling.
// {
// const NumericType kEpsilonNumericalError = 1e-6;
// const Eigen::Matrix<NumericType, 3, 1> translation{ 1, -3, -4 };
// const Eigen::Quaternion<NumericType> rotation{ 0, -2.54, 0, 0.5 };
// const NumericType scale{ 1.9 };
// const Eigen::Transform<NumericType, 3, Eigen::Affine> transformation = buildUpTransformation3D(translation, rotation, scale);
// // Transform and assert on the result.
// assertOnDataPointsTransformation(data3D, transformation.matrix(), transformator, kEpsilonNumericalError);
// }
//}
TEST(Transformation, ComputeSimilarityTransformDataPoints3D)
{
std::shared_ptr<PM::Transformation> transformator = PM::get().REG(Transformation).create("SimilarityTransformation");

// Identity.
{
const Eigen::Matrix<NumericType, 3, 1> translation{ 0, 0, 0 };
const Eigen::Quaternion<NumericType> rotation{ 1, 0, 0, 0 };
const NumericType scale{ 1.0 };
const Eigen::Transform<NumericType, 3, Eigen::Affine> transformation = buildUpTransformation3D(translation, rotation, scale);
// Transform and assert on the result.
assertOnDataPointsTransformation(data3D, transformation.matrix(), transformator);
}
// Pure Upscaling.
{
const Eigen::Matrix<NumericType, 3, 1> translation{ 0, 0, 0 };
const Eigen::Quaternion<NumericType> rotation{ 1, 0, 0, 0 };
const NumericType scale{ 5.0 };
const Eigen::Transform<NumericType, 3, Eigen::Affine> transformation = buildUpTransformation3D(translation, rotation, scale);
// Transform and assert on the result.
assertOnDataPointsTransformation(data3D, transformation.matrix(), transformator);
}
// Pure Downscaling.
{
const Eigen::Matrix<NumericType, 3, 1> translation{ 0, 0, 0 };
const Eigen::Quaternion<NumericType> rotation{ 1, 0, 0, 0 };
const NumericType scale{ 0.1 };
const Eigen::Transform<NumericType, 3, Eigen::Affine> transformation = buildUpTransformation3D(translation, rotation, scale);
// Transform and assert on the result.
assertOnDataPointsTransformation(data3D, transformation.matrix(), transformator);
}
// Pure translation + Downscaling.
{
const Eigen::Matrix<NumericType, 3, 1> translation{ -1.0001, 5, -12321.234 };
const Eigen::Quaternion<NumericType> rotation{ 1, 0, 0, 0 };
const NumericType scale{ 0.5 };
const Eigen::Transform<NumericType, 3, Eigen::Affine> transformation = buildUpTransformation3D(translation, rotation, scale);
// Transform and assert on the result.
assertOnDataPointsTransformation(data3D, transformation.matrix(), transformator);
}
// Pure rotation + Upscaling.
{
const Eigen::Matrix<NumericType, 3, 1> translation{ 0, 0, 0 };
const Eigen::Quaternion<NumericType> rotation{ 1, -5, 23, 0.5 };
const NumericType scale{ 1.9 };
const Eigen::Transform<NumericType, 3, Eigen::Affine> transformation = buildUpTransformation3D(translation, rotation, scale);
// Transform and assert on the result.
assertOnDataPointsTransformation(data3D, transformation.matrix(), transformator);
}
// Translation + rotation + Upscaling.
{
const NumericType kEpsilonNumericalError = 1e-6;
const Eigen::Matrix<NumericType, 3, 1> translation{ 1, -3, -4 };
const Eigen::Quaternion<NumericType> rotation{ 0, -2.54, 0, 0.5 };
const NumericType scale{ 1.9 };
const Eigen::Transform<NumericType, 3, Eigen::Affine> transformation = buildUpTransformation3D(translation, rotation, scale);
// Transform and assert on the result.
assertOnDataPointsTransformation(data3D, transformation.matrix(), transformator, kEpsilonNumericalError);
}
}