feat: add unit test to KMeans clustering of normals

Author: DamienGilliard

src/diffCheck/IOManager.cc

@@ -68,4 +68,11 @@ namespace diffCheck::io
         std::filesystem::path pathCloud = pathTestData / "test_pc_for_SOR_101pts_with_1_outlier.ply";
         return pathCloud.string();
     }
+
+    std::string GetTwoConnectedPlanesPlyPath()
+    {
+        std::filesystem::path pathTestData = GetTestDataDir();
+        std::filesystem::path pathCloud = pathTestData / "two_connected_planes_with_normals.ply";
+        return pathCloud.string();
+    }
 } // namespace diffCheck::io

src/diffCheck/IOManager.hh

@@ -42,4 +42,6 @@ namespace diffCheck::io
     std::string GetRoofQuarterPlyPath();
     /// @brief Get the path to the plane point cloud with one outlier
     std::string GetPlanePCWithOneOutliers();
+    /// @brief Get the path to the two connected planes ply test file
+    std::string GetTwoConnectedPlanesPlyPath();
 } // namespace diffCheck::io

tests/unit_tests/DFPointCloudTest.cc

@@ -219,4 +219,12 @@ TEST_F(DFPointCloudTestFixture, Transform) {
 
 //-------------------------------------------------------------------------
 // Others
-//-------------------------------------------------------------------------
+//-------------------------------------------------------------------------
+
+TEST_F(DFPointCloudTestFixture, KMeansClusteringOfNormals) {
+    std::string path = diffCheck::io::GetTwoConnectedPlanesPlyPath();
+    diffCheck::geometry::DFPointCloud dfPointCloud2Planes;
+    dfPointCloud2Planes.LoadFromPLY(path);
+    std::vector<Eigen::Vector3d> axes = dfPointCloud2Planes.GetPrincipalAxes(2);
+    EXPECT_TRUE((axes[0] - Eigen::Vector3d(0, 0, 1)).norm() < 1e-2 || (axes[1] - Eigen::Vector3d(0, 0, 1)).norm() < 1e-2);
+}