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Added improved test for guess matrix in GICP #972

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Added improved test for guess matrix in GICP #972

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Add test for guess matrix in GICP
VictorLamoine Oct 21, 2014
1d8c7f9
transform the target pointcloud and adjust the expected FitnessScore …
saarnold Oct 21, 2014
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16 changes: 14 additions & 2 deletions test/registration/test_registration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -489,7 +489,6 @@ TEST (PCL, GeneralizedIterativeClosestPoint)
copyPointCloud (cloud_target, *tgt);
PointCloud<PointT> output;


GeneralizedIterativeClosestPoint<PointT, PointT> reg;
reg.setInputSource (src);
reg.setInputTarget (tgt);
Expand All @@ -499,7 +498,7 @@ TEST (PCL, GeneralizedIterativeClosestPoint)
// Register
reg.align (output);
EXPECT_EQ (int (output.points.size ()), int (cloud_source.points.size ()));
EXPECT_LT (reg.getFitnessScore (), 0.001);
EXPECT_LT (reg.getFitnessScore (), 0.0001);

// Check again, for all possible caching schemes
for (int iter = 0; iter < 4; iter++)
Expand All @@ -522,6 +521,19 @@ TEST (PCL, GeneralizedIterativeClosestPoint)
EXPECT_EQ (int (output.points.size ()), int (cloud_source.points.size ()));
EXPECT_LT (reg.getFitnessScore (), 0.001);
}

// Test guess matrix
Eigen::Isometry3f transform = Eigen::Isometry3f (Eigen::AngleAxisf (0.25 * M_PI, Eigen::Vector3f::UnitX ())
* Eigen::AngleAxisf (0.50 * M_PI, Eigen::Vector3f::UnitY ())
* Eigen::AngleAxisf (0.33 * M_PI, Eigen::Vector3f::UnitZ ()));
transform.translation () = Eigen::Vector3f (20.0, -8.0, 1.0);
PointCloud<PointT>::Ptr transformed_tgt (new PointCloud<PointT>);
pcl::transformPointCloud (*tgt, *transformed_tgt, transform.matrix ()); // transformed_tgt is now a copy of tgt with a transformation matrix applied
reg.setInputSource (src);
reg.setInputTarget (transformed_tgt);
reg.align (output, transform.matrix ());
EXPECT_EQ (int (output.points.size ()), int (cloud_source.points.size ()));
EXPECT_LT (reg.getFitnessScore (), 0.0001);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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