From e705b2df46748a0b429e60971ede49c92192ff46 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Se=CC=81rgio=20Agostinho?= <sergio.r.agostinho@gmail.com>
Date: Sat, 29 Sep 2018 09:43:44 +0200
Subject: [PATCH] Revise direction test in
 SampleConsensusModelParallelLine/RANSAC to be consistent with set tolerance.

---
 .../test_sample_consensus_line_models.cpp         | 15 ++++++++++-----
 1 file changed, 10 insertions(+), 5 deletions(-)

diff --git a/test/sample_consensus/test_sample_consensus_line_models.cpp b/test/sample_consensus/test_sample_consensus_line_models.cpp
index e3266244f98..6ef73dd4ee2 100644
--- a/test/sample_consensus/test_sample_consensus_line_models.cpp
+++ b/test/sample_consensus/test_sample_consensus_line_models.cpp
@@ -40,6 +40,7 @@
 
 #include <pcl/pcl_tests.h>
 
+#include <pcl/common/common.h>
 #include <pcl/sample_consensus/ransac.h>
 #include <pcl/sample_consensus/sac_model_line.h>
 #include <pcl/sample_consensus/sac_model_parallel_line.h>
@@ -132,9 +133,11 @@ TEST (SampleConsensusModelParallelLine, RANSAC)
   cloud.points[15].getVector3fMap () << -1.05f,  5.01f,  5.0f;
 
   // Create a shared line model pointer directly
+  const double eps = 0.1; //angle eps in radians
+  const Eigen::Vector3f axis (0, 0, 1);
   SampleConsensusModelParallelLinePtr model (new SampleConsensusModelParallelLine<PointXYZ> (cloud.makeShared ()));
-  model->setAxis (Eigen::Vector3f (0, 0, 1));
-  model->setEpsAngle (0.1);
+  model->setAxis (axis);
+  model->setEpsAngle (eps);
 
   // Create the RANSAC object
   RandomSampleConsensus<PointXYZ> sac (model, 0.1);
@@ -154,9 +157,11 @@ TEST (SampleConsensusModelParallelLine, RANSAC)
   Eigen::VectorXf coeff;
   sac.getModelCoefficients (coeff);
   EXPECT_EQ (6, coeff.size ());
-  EXPECT_NEAR (0, coeff[3], 1e-4);
-  EXPECT_NEAR (0, coeff[4], 1e-4);
-  EXPECT_NEAR (1, coeff[5], 1e-4);
+
+  // Make sure the returned direction respects the angular constraint
+  double angle_diff = getAngle3D (axis, coeff.tail<3> ());
+  angle_diff = std::min (angle_diff, M_PI - angle_diff);
+  EXPECT_GT (eps, angle_diff);
 
   // Projection tests
   PointCloud<PointXYZ> proj_points;