#include <mrpt/slam/CICP.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/opengl/CAngularObservationMesh.h>
#include <mrpt/poses/CPosePDF.h>
#include <mrpt/poses/CPose3DPDF.h>
#include <mrpt/opengl/COpenGLScene.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/opengl/CSphere.h>
#include <mrpt/opengl/CDisk.h>
#include <mrpt/opengl/stock_objects.h>
#include <gtest/gtest.h>

Include dependency graph for CICP_unittest.cpp:

Classes
class	ICPTests

Macros
#define	SCANS_SIZE (sizeof(SCAN_RANGES_1)/sizeof(SCAN_RANGES_1[0]))

Functions
	TEST_F (ICPTests, AlignScans_icpClassic)

	TEST_F (ICPTests, AlignScans_icpLevenbergMarquardt)

	TEST_F (ICPTests, RayTracingICP3D)

Macro Definition Documentation

◆ SCANS_SIZE

#define SCANS_SIZE (sizeof(SCAN_RANGES_1)/sizeof(SCAN_RANGES_1[0]))

Referenced by ICPTests::align2scans().

Function Documentation

◆ TEST_F() [1/3]

TEST_F	(	ICPTests	,
		AlignScans_icpClassic
	)

Definition at line 134 of file CICP_unittest.cpp.

References mrpt::slam::icpClassic.

◆ TEST_F() [2/3]

TEST_F	(	ICPTests	,
		AlignScans_icpLevenbergMarquardt
	)

Definition at line 139 of file CICP_unittest.cpp.

References mrpt::slam::icpLevenbergMarquardt.

◆ TEST_F() [3/3]

TEST_F	(	ICPTests	,
		RayTracingICP3D
	)

Definition at line 145 of file CICP_unittest.cpp.

References mrpt::slam::CMetricMapsAlignmentAlgorithm::Align3D(), mrpt::maps::CPointsMap::changeCoordinatesReference(), mrpt::maps::CPointsMap::COLOR_3DSCENE_B, mrpt::maps::CPointsMap::COLOR_3DSCENE_G, mrpt::maps::CPointsMap::COLOR_3DSCENE_R, mrpt::opengl::stock_objects::CornerXYZ(), DEG2RAD, mrpt::maps::CPointsMap::getAs3DObject(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getAsVectorVal(), M_PI, mean(), mrpt::slam::CICP::options, mrpt::slam::CICP::TConfigParams::thresholdAng, and mrpt::slam::CICP::TConfigParams::thresholdDist.

Classes