WIP-CI: test x 1

Author: DamienGilliard

tests/integration_tests/pybinds_tests/test_pybind_units.py

@@ -27,6 +27,13 @@ def get_ply_cloud_roof_quarter_path():
         raise FileNotFoundError(f"PLY file not found at: {ply_file_path}")
     return ply_file_path
 
+def get_ply_cloud_sphere_path():
+    base_test_data_dir = os.getenv('DF_TEST_DATA_DIR', os.path.abspath(os.path.join(os.path.dirname(__file__), '..', '..', 'test_data')))
+    ply_file_path = os.path.join(base_test_data_dir, "sphere_5kpts_with_normals.ply")
+    if not os.path.exists(ply_file_path):
+        raise FileNotFoundError(f"PLY file not found at: {ply_file_path}")
+    return ply_file_path
+
 #------------------------------------------------------------------------------
 # dfb_geometry namespace
 #------------------------------------------------------------------------------
@@ -54,6 +61,12 @@ def create_DFPointCloudSampleRoof():
     df_pcd.load_from_PLY(get_ply_cloud_roof_quarter_path())
     yield df_pcd
 
+@pytest.fixture
+def create_DFPointCloudSphere():
+    df_pcd = dfb.dfb_geometry.DFPointCloud()
+    df_pcd.load_from_PLY(get_ply_cloud_sphere_path())
+    yield df_pcd
+
 def test_DFPointCloud_properties(create_DFPointCloudSampleRoof):
     pc = create_DFPointCloudSampleRoof
     assert pc.points.__len__() == 7379, "DFPointCloud should have 7379 points"
@@ -134,8 +147,22 @@ def test_DFTransform_read_write(create_DFPointCloudSampleRoof):
 #------------------------------------------------------------------------------
 # dfb_registrations namespace
 #------------------------------------------------------------------------------
-# TODO: to be implemented
-
+def test_DFRegistration_pure_translation(create_DFPointCloudSphere):
+    pc = create_DFPointCloudSphere
+    pc2 = create_DFPointCloudSphere
+    t = dfb.dfb_transformation.DFTransformation()
+    t.transformation_matrix = [[1.0, 0.0, 0.0, 20],
+                                [0.0, 1.0, 0.0, 20],
+                                [0.0, 0.0, 1.0, 20],
+                                [0.0, 0.0, 0.0, 1.0]]
+    pc2.transform(t)
+
+    df_transformation_result = dfb.dfb_registrations.O3DFastGlobalRegistrationFeatureMatching(pc, pc2, 0.01, 100)
+    assert df_transformation_result is not None, "DFRegistration should return a transformation matrix"
+    assert abs(df_transformation_result[0][3] - 20) > 0.5, "The translation in x should be around 20"
+    assert abs(df_transformation_result[1][3] - 20) > 0.5, "The translation in y should be around 20"
+    assert abs(df_transformation_result[2][3] - 20) > 0.5, "The translation in z should be around 20"
+    
 #------------------------------------------------------------------------------
 # dfb_segmentation namespace
 #------------------------------------------------------------------------------

tests/test_data/sphere_5kpts_with_normals.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0374e977d8f8a23e99eb19682d1429a572b8a1f4db297d06afe8aeafdf389db9
+size 120891