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test for VGICP

This commit is contained in:
k.koide 2024-03-30 23:00:58 +09:00
parent 4a66f95b0c
commit ec883c41f7
1 changed files with 30 additions and 0 deletions
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30
src/test/registration_test.cpp
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@ -208,6 +208,36 @@ TEST_F(RegistrationTest, PCLInterfaceTest) {
EXPECT_EQ(aligned.size(), source_pcl->size());
EXPECT_TRUE(compare_transformation(T_target_source, Eigen::Isometry3d(registration.getFinalTransformation().cast<double>())));
registration.setRegistrationType("VGICP");
registration.setVoxelResolution(1.0);
// Forward align
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>())));
// 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(