test_warps.cpp

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#include <gtest/gtest.h>

#include <pcl/point_types.h>
#include <pcl/registration/warp_point_rigid_3d.h>
#include <pcl/registration/warp_point_rigid_6d.h>

using namespace pcl;
using namespace pcl::registration;

TEST (PCL, WarpPointRigid6DFloat)
{
  WarpPointRigid6D<PointXYZ, PointXYZ, float> warp;
  Eigen::Quaternionf q (0.4455f, 0.9217f, 0.3382f, 0.3656f);
  q.normalize ();
  Eigen::Vector3f t (0.82550f, 0.11697f, 0.44864f);

  Eigen::VectorXf p (6);
  p[0] = t.x (); p[1] = t.y (); p[2] = t.z (); p[3] = q.x (); p[4] = q.y (); p[5] = q.z ();
  warp.setParam (p);

  PointXYZ pin (1, 2, 3), pout;
  warp.warpPoint (pin, pout);
  EXPECT_NEAR (pout.x, 4.15963f, 1e-5);
  EXPECT_NEAR (pout.y, -1.51363f, 1e-5);
  EXPECT_NEAR (pout.z, 0.922648f, 1e-5);
}

TEST (PCL, WarpPointRigid6DDouble)
{
  WarpPointRigid6D<PointXYZ, PointXYZ, double> warp;
  Eigen::Quaterniond q (0.4455, 0.9217, 0.3382, 0.3656);
  q.normalize ();
  Eigen::Vector3d t (0.82550, 0.11697, 0.44864);

  Eigen::VectorXd p (6);
  p[0] = t.x (); p[1] = t.y (); p[2] = t.z (); p[3] = q.x (); p[4] = q.y (); p[5] = q.z ();
  warp.setParam (p);

  PointXYZ pin (1, 2, 3), pout;
  warp.warpPoint (pin, pout);
  EXPECT_NEAR (pout.x, 4.15963, 1e-5);
  EXPECT_NEAR (pout.y, -1.51363, 1e-5);
  EXPECT_NEAR (pout.z, 0.922648, 1e-5);
}

/* ---[ */
int
main (int argc, char** argv)
{
  testing::InitGoogleTest (&argc, argv);
  return (RUN_ALL_TESTS ());
}
/* ]--- */