Adapt GICP6D test

PointCloudLibrary · Sep 25, 2023 · c4d3494 · c4d3494
1 parent f9ead32
commit c4d3494
Showing 1 changed file with 3 additions and 8 deletions.
diff --git a/test/registration/test_registration.cpp b/test/registration/test_registration.cpp
@@ -593,8 +593,7 @@ TEST (PCL, GeneralizedIterativeClosestPoint6D)
   PointCloud<PointT>::Ptr src_full (new PointCloud<PointT>);
   copyPointCloud (cloud_with_color, *src_full);
   PointCloud<PointT>::Ptr tgt_full (new PointCloud<PointT>);
-  sampleRandomTransform (delta_transform, M_PI/0.1, .03);
-  std::cout << "ground truth transformation:" << std::endl << delta_transform.matrix() << std::endl;
+  sampleRandomTransform (delta_transform, 0.25*M_PI, .03);
   pcl::transformPointCloud (cloud_with_color, *tgt_full, delta_transform);
   PointCloud<PointT> output;
 
@@ -607,7 +606,6 @@ TEST (PCL, GeneralizedIterativeClosestPoint6D)
   sor.filter (*src);
   sor.setInputCloud (tgt_full);
   sor.filter (*tgt);
-  std::cout << "src->size()=" << src->size() << " tgt->size()=" << tgt->size() << std::endl;
 
   GeneralizedIterativeClosestPoint6D reg;
   reg.setInputSource (src);
@@ -618,10 +616,7 @@ TEST (PCL, GeneralizedIterativeClosestPoint6D)
   // Register
   reg.align (output);
   EXPECT_EQ (output.size (), src->size ());
-  std::cout << "final transformation:" << std::endl << reg.getFinalTransformation() << std::endl;
-  const double fitscore = reg.getFitnessScore ();
-  std::cout << "fitness score=" << fitscore << std::endl;
-  EXPECT_LT (fitscore, 0.003);
+  EXPECT_LT (reg.getFitnessScore (), 1e-4);
 
   // Check again, for all possible caching schemes
   for (int iter = 0; iter < 4; iter++)
@@ -642,7 +637,7 @@ TEST (PCL, GeneralizedIterativeClosestPoint6D)
     // Register
     reg.align (output);
     EXPECT_EQ (output.size (), src->size ());
-    EXPECT_LT (reg.getFitnessScore (), 0.003);
+    EXPECT_LT (reg.getFitnessScore (), 1e-4);
   }
 }