Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add test for guess matrix in GICP #970

Closed
wants to merge 1 commit into from
Closed

Add test for guess matrix in GICP #970

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 13 additions & 1 deletion test/registration/test_registration.cpp
View file
Open in desktop
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 Down Expand Up @@ -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);
pcl::transformPointCloud (*src, *tgt, transform.matrix ()); // tgt is now a copy of src with a transformation matrix applied
reg.setInputSource (src);
reg.setInputTarget (tgt);
reg.setMaximumIterations (1); // Allow only 1 iteration
reg.align (output, transform.matrix ());
Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

If you replace this line with reg.align (output); the test unit will fail because GICP can't make a perfect alignment in only one iteration.
When providing a guess matrix, the alignement is perfect with only 1 iteration because the guess matrix is exactly the right one.

EXPECT_EQ (int (output.points.size ()), int (cloud_source.points.size ()));
EXPECT_LT (reg.getFitnessScore (), 0.001);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Expand Down