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Revise direction test in SampleConsensusModelParallelLine/RANSAC to be consistent with set tolerance. #2491

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Sep 29, 2018
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Revise direction test in SampleConsensusModelParallelLine/RANSAC to be consistent with set tolerance. #2491

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15 changes: 10 additions & 5 deletions test/sample_consensus/test_sample_consensus_line_models.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
Expand Down Expand Up @@ -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);
Expand All @@ -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;
Expand Down