Add alignment unit test for IterativeClosestPointWithNormals - #6454
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harshareddy1611 wants to merge 1 commit into
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Add alignment unit test for IterativeClosestPointWithNormals#6454harshareddy1611 wants to merge 1 commit into
harshareddy1611 wants to merge 1 commit into
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Previously the only test checked the symmetric-objective getter/setter and never ran an actual alignment. This adds a helper that aligns the bunny clouds using IterativeClosestPointWithNormals and checks convergence and fitness score, for both float and double precision. Closes PointCloudLibrary#3535. Signed-off-by: Harsha Reddy <harsha.reddy1611@gmail.com>
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Pull request overview
This pull request adds a real alignment regression test for IterativeClosestPointWithNormals, addressing the gap where the existing test only exercised the symmetric-objective getter/setter without running ICP.
Changes:
- Adds a reusable helper (
runICPWithNormals<Scalar>()) that computes normals for the bunny point clouds and runs ICP-with-normals. - Validates alignment success via convergence and a fitness-score threshold for both
floatanddoubleinstantiations.
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Previously the only test checked the symmetric-objective getter/setter and never ran an actual alignment. This adds a helper that aligns the bunny clouds using IterativeClosestPointWithNormals and checks convergence and fitness score, for both float and double precision.
Closes #3535.