ErrorMinimizers.cpp

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#include "../utest.h"

using namespace std;
using namespace PointMatcherSupport;

//---------------------------
// Error modules
//---------------------------

// Utility classes
class ErrorMinimizerTest: public IcpHelper
{
public:
        PM::ErrorMinimizer* errorMin;

        // Will be called for every tests
        virtual void SetUp()
        {
                icp.setDefault();
                // Uncomment for consol outputs
                //setLogger(PM::get().LoggerRegistrar.create("FileLogger"));
        }

        // Will be called for every tests
        virtual void TearDown(){}

        void addFilter(string name)
        {
                errorMin = PM::get().ErrorMinimizerRegistrar.create(name);
                icp.errorMinimizer.reset(errorMin);
        }
};


TEST_F(ErrorMinimizerTest, PointToPointErrorMinimizer)
{
        addFilter("PointToPointErrorMinimizer");        
        validate2dTransformation();
        validate3dTransformation();
}

TEST_F(ErrorMinimizerTest, PointToPlaneErrorMinimizer)
{
        addFilter("PointToPlaneErrorMinimizer");        
        validate2dTransformation();
        validate3dTransformation();
}