CICP_unittest.cpp File Reference

#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:

Go to the source code of this file.

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 260 of file CICP_unittest.cpp.

References mrpt::slam::icpClassic.

TEST_F() [2/3]

TEST_F	(	ICPTests	,
		AlignScans_icpLevenbergMarquardt
	)

Definition at line 261 of file CICP_unittest.cpp.

References mrpt::slam::icpLevenbergMarquardt.

TEST_F() [3/3]

TEST_F	(	ICPTests	,
		RayTracingICP3D
	)

Definition at line 267 of file CICP_unittest.cpp.

References mrpt::slam::CMetricMapsAlignmentAlgorithm::Align3D(), mrpt::maps::CPointsMap::changeCoordinatesReference(), mrpt::maps::CPointsMap::TRenderOptions::color, mrpt::opengl::stock_objects::CornerXYZ(), mrpt::DEG2RAD(), generateObjects(), mrpt::maps::CPointsMap::getAs3DObject(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getAsVectorVal(), HOW_MANY_PITCHS, HOW_MANY_YAWS, M_PI, mean(), mrpt::slam::CICP::options, mrpt::maps::CPointsMap::renderOptions, SCAN2_POSE_ERROR, mrpt::slam::CICP::TConfigParams::thresholdAng, mrpt::slam::CICP::TConfigParams::thresholdDist, viewpoint1, and viewpoint2.