ErrorMinimizers.cpp
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00001 #include "../utest.h"
00002 
00003 using namespace std;
00004 using namespace PointMatcherSupport;
00005 
00006 //---------------------------
00007 // Error modules
00008 //---------------------------
00009 
00010 // Utility classes
00011 class ErrorMinimizerTest: public IcpHelper
00012 {
00013 public:
00014         PM::ErrorMinimizer* errorMin;
00015 
00016         // Will be called for every tests
00017         virtual void SetUp()
00018         {
00019                 icp.setDefault();
00020                 // Uncomment for consol outputs
00021                 //setLogger(PM::get().LoggerRegistrar.create("FileLogger"));
00022         }
00023 
00024         // Will be called for every tests
00025         virtual void TearDown(){}
00026 
00027         void addFilter(string name)
00028         {
00029                 errorMin = PM::get().ErrorMinimizerRegistrar.create(name);
00030                 icp.errorMinimizer.reset(errorMin);
00031         }
00032 };
00033 
00034 
00035 TEST_F(ErrorMinimizerTest, PointToPointErrorMinimizer)
00036 {
00037         addFilter("PointToPointErrorMinimizer");        
00038         validate2dTransformation();
00039         validate3dTransformation();
00040 }
00041 
00042 TEST_F(ErrorMinimizerTest, PointToPlaneErrorMinimizer)
00043 {
00044         addFilter("PointToPlaneErrorMinimizer");        
00045         validate2dTransformation();
00046         validate3dTransformation();
00047 }


upstream_src
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autogenerated on Mon Oct 6 2014 10:27:39