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RegistrationPCL test

This commit is contained in:
k.koide 2024-03-30 21:50:53 +09:00
parent 98a8ee34e6
commit b69ea8fdc1
3 changed files with 45 additions and 2 deletions
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4
CMakeLists.txt
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@ -64,7 +64,7 @@ if(BUILD_BENCHMARKS)
add_compile_definitions(BUILD_WITH_TBB)
endif()
if (BUILD_WITH_PCL)
find_package(PCL REQUIRED COMPONENTS registration)
find_package(PCL REQUIRED)
add_compile_definitions(BUILD_WITH_PCL)
endif()
if (BUILD_WITH_IRIDESCENCE)
@ -171,7 +171,7 @@ endif()
##########
if(BUILD_TESTS)
find_package(fmt REQUIRED)
find_package(PCL REQUIRED COMPONENTS registration)
find_package(PCL REQUIRED)
find_package(TBB REQUIRED)
include(FetchContent)

6
include/small_gicp/pcl/pcl_registration_impl.hpp
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@ -1,5 +1,11 @@
#pragma once
#include <pcl/impl/pcl_base.hpp>
#include <pcl/search/impl/search.hpp>
#include <pcl/search/impl/kdtree.hpp>
#include <pcl/search/impl/flann_search.hpp>
#include <pcl/registration/impl/registration.hpp>
#include <small_gicp/pcl/pcl_registration.hpp>
#include <small_gicp/pcl/pcl_proxy.hpp>

37
src/test/registration_test.cpp
View File

@ -5,6 +5,8 @@
#include <small_gicp/util/normal_estimation_omp.hpp>
#include <small_gicp/pcl/pcl_point.hpp>
#include <small_gicp/pcl/pcl_point_traits.hpp>
#include <small_gicp/pcl/pcl_registration.hpp>
#include <small_gicp/pcl/pcl_registration_impl.hpp>
#include <small_gicp/points/point_cloud.hpp>
#include <small_gicp/factors/icp_factor.hpp>
@ -173,6 +175,41 @@ TEST_F(RegistrationTest, LoadCheck) {
EXPECT_FALSE(source_pcl->empty());
}
// PCL interface test
TEST_F(RegistrationTest, PCLInterfaceTest) {
RegistrationPCL<pcl::PointNormalCovariance, pcl::PointNormalCovariance> registration;
registration.setRegistrationType("GICP");
registration.setMaxCorrespondenceDistance(1.0);
// Forward align
registration.setInputTarget(target_pcl);
registration.setInputSource(source_pcl);
pcl::PointCloud<pcl::PointNormalCovariance> aligned;
registration.align(aligned);
EXPECT_EQ(aligned.size(), source_pcl->size());
EXPECT_TRUE(compare_transformation(T_target_source, Eigen::Isometry3d(registration.getFinalTransformation().cast<double>())));
// Swap and backward align
registration.swapSourceAndTarget();
registration.align(aligned);
EXPECT_EQ(aligned.size(), target_pcl->size());
EXPECT_TRUE(compare_transformation(T_target_source.inverse(), Eigen::Isometry3d(registration.getFinalTransformation().cast<double>())));
// Clear and forward align
registration.clearTarget();
registration.clearSource();
registration.setInputTarget(target_pcl);
registration.setInputSource(source_pcl);
registration.align(aligned);
EXPECT_EQ(aligned.size(), source_pcl->size());
EXPECT_TRUE(compare_transformation(T_target_source, Eigen::Isometry3d(registration.getFinalTransformation().cast<double>())));
}
INSTANTIATE_TEST_SUITE_P(
RegistrationTest,
RegistrationTest,