From 6bfa9cb53e406e34d2117bcb4256c4bda3f756e1 Mon Sep 17 00:00:00 2001 From: Sergey Alexandrov Date: Mon, 17 Mar 2014 14:06:47 +0100 Subject: [PATCH] Use new EXPECT_XYZ_NEAR test macro where applicable --- .../test_sample_consensus.cpp | 29 +++++-------------- 1 file changed, 7 insertions(+), 22 deletions(-) diff --git a/test/sample_consensus/test_sample_consensus.cpp b/test/sample_consensus/test_sample_consensus.cpp index e04391065..a113dd7a1 100644 --- a/test/sample_consensus/test_sample_consensus.cpp +++ b/test/sample_consensus/test_sample_consensus.cpp @@ -38,6 +38,7 @@ #include #include +#include #include @@ -123,17 +124,9 @@ void verifyPlaneSac (ModelType & model, SacType & sac, unsigned int inlier_numbe // Projection tests PointCloud proj_points; model->projectPoints (inliers, coeff_refined, proj_points); - EXPECT_NEAR (1.1266, proj_points.points[20].x, proj_tol); - EXPECT_NEAR (0.0152, proj_points.points[20].y, proj_tol); - EXPECT_NEAR (-0.0156, proj_points.points[20].z, proj_tol); - - EXPECT_NEAR (1.1843, proj_points.points[30].x, proj_tol); - EXPECT_NEAR (-0.0635, proj_points.points[30].y, proj_tol); - EXPECT_NEAR (-0.0201, proj_points.points[30].z, proj_tol); - - EXPECT_NEAR (1.0749, proj_points.points[50].x, proj_tol); - EXPECT_NEAR (-0.0586, proj_points.points[50].y, proj_tol); - EXPECT_NEAR (0.0587, proj_points.points[50].z, refined_tol); + EXPECT_XYZ_NEAR (PointXYZ (1.1266, 0.0152, -0.0156), proj_points.points[20], proj_tol); + EXPECT_XYZ_NEAR (PointXYZ (1.1843, -0.0635, -0.0201), proj_points.points[30], proj_tol); + EXPECT_XYZ_NEAR (PointXYZ (1.0749, -0.0586, 0.0587), proj_points.points[50], proj_tol); } //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// @@ -858,17 +851,9 @@ TEST (RANSAC, SampleConsensusModelLine) PointCloud proj_points; model->projectPoints (inliers, coeff_refined, proj_points); - EXPECT_NEAR (7.0, proj_points.points[2].x, 1e-4); - EXPECT_NEAR (8.0, proj_points.points[2].y, 1e-4); - EXPECT_NEAR (9.0, proj_points.points[2].z, 1e-4); - - EXPECT_NEAR (10.0, proj_points.points[3].x, 1e-4); - EXPECT_NEAR (11.0, proj_points.points[3].y, 1e-4); - EXPECT_NEAR (12.0, proj_points.points[3].z, 1e-4); - - EXPECT_NEAR (16.0, proj_points.points[5].x, 1e-4); - EXPECT_NEAR (17.0, proj_points.points[5].y, 1e-4); - EXPECT_NEAR (18.0, proj_points.points[5].z, 1e-4); + EXPECT_XYZ_NEAR (PointXYZ ( 7.0, 8.0, 9.0), proj_points.points[2], 1e-4); + EXPECT_XYZ_NEAR (PointXYZ (10.0, 11.0, 12.0), proj_points.points[3], 1e-4); + EXPECT_XYZ_NEAR (PointXYZ (16.0, 17.0, 18.0), proj_points.points[5], 1e-4); } ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -- GitLab