fixes

Author: jlblancoc

mp2p_icp_filters/include/mp2p_icp_filters/FilterVoxelSOR.h

@@ -16,7 +16,7 @@
  * @file   FilterVoxelSOR.h
  * @brief  Voxel-based Statistical Outlier Removal (SOR) filter.
  * @author Jose Luis Blanco Claraco
- * @date   Jan 21, 2025
+ * @date   Jan 21, 2026
  */
 
 #pragma once

mp2p_icp_filters/src/FilterSOR.cpp

@@ -165,8 +165,8 @@ void FilterSOR::filter(mp2p_icp::metric_map_t& inOut) const
         const bool isInlier = (avg_distances[i] <= threshold);
         if (isInlier)
         {
-            ++num_inliers;
 #if MRPT_VERSION >= 0x020f03  // 2.15.3
+            ++num_inliers;
             if (outInliers)
             {
                 outInliers->insertPointFrom(i, *ctxI);
@@ -180,25 +180,29 @@ void FilterSOR::filter(mp2p_icp::metric_map_t& inOut) const
                 outOutliers->insertPointFrom(i, *ctxO);
             }
 #elif MRPT_VERSION >= 0x020f00  // 2.15.0
+            ++num_inliers;
             if (outInliers)
             {
                 outInliers->insertPointFrom(pc, i, *ctxI);
             }
         }
         else
         {
+            ++num_outliers;
             if (outOutliers)
             {
                 outOutliers->insertPointFrom(pc, i, *ctxO);
             }
 #else
+            ++num_inliers;
             if (outInliers)
             {
                 outInliers->insertPointFrom(pc, i);
             }
         }
         else
         {
+            ++num_outliers;
             if (outOutliers)
             {
                 outOutliers->insertPointFrom(pc, i);

mp2p_icp_filters/src/FilterVoxelSOR.cpp

@@ -16,7 +16,7 @@
  * @file   FilterVoxelSOR.cpp
  * @brief  Voxel-based Statistical Outlier Removal (SOR) filter.
  * @author Jose Luis Blanco Claraco
- * @date   Jan 21, 2025
+ * @date   Jan 21, 2026
  */
 
 #include <mp2p_icp_filters/FilterVoxelSOR.h>
@@ -54,6 +54,10 @@ void FilterVoxelSOR::Parameters::load_from_yaml(const mrpt::containers::yaml& c)
 void FilterVoxelSOR::initialize_filter(const mrpt::containers::yaml& c)
 {
     params.load_from_yaml(c);
+
+    ASSERT_GT_(params.voxel_size, 0.0f);
+    ASSERT_GE_(params.mean_k, 1);
+    ASSERT_GE_(params.parallelization_grain_size, 1);
 }
 
 void FilterVoxelSOR::filter(mp2p_icp::metric_map_t& inOut) const
@@ -64,6 +68,15 @@ void FilterVoxelSOR::filter(mp2p_icp::metric_map_t& inOut) const
         return;
     }
 
+    if (params.output_layer_inliers == params.input_layer ||
+        (!params.output_layer_outliers.empty() &&
+         (params.output_layer_outliers == params.input_layer ||
+          params.output_layer_outliers == params.output_layer_inliers)))
+    {
+        throw std::invalid_argument(
+            "FilterVoxelSOR: output layers must differ from input_layer and each other");
+    }
+
     MRPT_LOG_DEBUG("FilterVoxelSOR: Starting SOR filtering...");
 
     // 1. Partition into Voxel Grid

tests/test-mp2p_class_factory.cpp

@@ -14,7 +14,7 @@
 
 /**
  * @file   test-mp2p_class_factory.cpp
- * @brief  Unit tests for Generator
+ * @brief  Unit tests to check correct registration of classes
  * @author Jose Luis Blanco Claraco
  * @date   Jan 21, 2026
  */
@@ -99,5 +99,4 @@ int main([[maybe_unused]] int argc, [[maybe_unused]] char** argv)
         std::cerr << mrpt::exception_to_str(e) << "\n";
         return 1;
     }
-    return 0;
 }