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Fixed 2d corridor failing on pcl

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matlabbe
2026-06-07 14:55:54 -07:00
parent 79408c8371
commit 1e311f5561
1 changed files with 19 additions and 9 deletions
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corelib/test/test_registrationicp.cpp
+19 -9
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@@ -438,12 +438,7 @@ ParametersMap corridorIcpParams(RegistrationIcp::IcpStrategy strategy)
// 5 cm voxel: downsamples the dense synthetic walls while keeping enough // 5 cm voxel: downsamples the dense synthetic walls while keeping enough
// points to estimate normals + run ICP -- closer to a real-world setup. // points to estimate normals + run ICP -- closer to a real-world setup.
p[Parameters::kIcpVoxelSize()] = "0.05"; p[Parameters::kIcpVoxelSize()] = "0.05";
// 0.5 m matches the integration-test PR2 corridor configuration so this p[Parameters::kIcpMaxTranslation()] = "0.0";
// test exercises libpointmatcher's BoundTransformationChecker. The
// checker measures the iteration's *delta from the initial guess*, not
// the absolute transform, so even the with-guess tests (xGuess at 1 m
// forward) only need ~5 cm of correction and never trip the bound.
p[Parameters::kIcpMaxTranslation()] = "0.5";
return p; return p;
} }
@@ -714,8 +709,16 @@ TEST(RegistrationIcpTest, Corridor3D_Drone4DoF_ImuPlusXGuess_RecoversFullTransfo
EXPECT_NEAR(3.0f*deg, yawOut, 5e-3f); EXPECT_NEAR(3.0f*deg, yawOut, 5e-3f);
} }
// 2D corridor tests: PCL has no 2D PointToPlane estimator
// (TransformationEstimation2D is point-to-point only), so the
// low-complexity machinery never fires on PCL+2D and the iteration
// drifts unchecked. Skip when libpointmatcher isn't available.
TEST(RegistrationIcpTest, Corridor2D_NoGuess_FailsToRecoverXButGetsYAndYaw) TEST(RegistrationIcpTest, Corridor2D_NoGuess_FailsToRecoverXButGetsYAndYaw)
{ {
if(defaultIcpStrategy() != RegistrationIcp::kIcpPointMatcher)
{
GTEST_SKIP() << "2D PointToPlane requires libpointmatcher";
}
// 2D analogue: two parallel lines along x. Same degeneracy + same // 2D analogue: two parallel lines along x. Same degeneracy + same
// infinite-corridor model (independent `to` sample, x stripped from // infinite-corridor model (independent `to` sample, x stripped from
// the truth motion). // the truth motion).
@@ -729,7 +732,9 @@ TEST(RegistrationIcpTest, Corridor2D_NoGuess_FailsToRecoverXButGetsYAndYaw)
observableMotion(truth).inverse()); observableMotion(truth).inverse());
RegistrationInfo info; RegistrationInfo info;
const Transform t = runIcp(defaultIcpStrategy(), from, to, corridorIcpParams(defaultIcpStrategy()), Transform::getIdentity(), &info); const Transform t = runIcp(defaultIcpStrategy(), from, to,
corridorIcpParams(defaultIcpStrategy()),
Transform::getIdentity(), &info);
ASSERT_FALSE(t.isNull()) << info.rejectedMsg; ASSERT_FALSE(t.isNull()) << info.rejectedMsg;
EXPECT_LT(info.icpStructuralComplexity, 0.02f) EXPECT_LT(info.icpStructuralComplexity, 0.02f)
<< "expected 2D corridor to land below low-complexity threshold; got " << "expected 2D corridor to land below low-complexity threshold; got "
@@ -745,6 +750,10 @@ TEST(RegistrationIcpTest, Corridor2D_NoGuess_FailsToRecoverXButGetsYAndYaw)
TEST(RegistrationIcpTest, Corridor2D_WithXGuess_RecoversFullTransform) TEST(RegistrationIcpTest, Corridor2D_WithXGuess_RecoversFullTransform)
{ {
if(defaultIcpStrategy() != RegistrationIcp::kIcpPointMatcher)
{
GTEST_SKIP() << "2D PointToPlane requires libpointmatcher";
}
const LaserScan from = makeCorridor2D(); const LaserScan from = makeCorridor2D();
const float yaw = 3.0f * static_cast<float>(M_PI) / 180.0f; const float yaw = 3.0f * static_cast<float>(M_PI) / 180.0f;
const Transform truth(1.0f, 0.05f, 0.0f, 0.0f, 0.0f, yaw); const Transform truth(1.0f, 0.05f, 0.0f, 0.0f, 0.0f, yaw);
@@ -756,7 +765,8 @@ TEST(RegistrationIcpTest, Corridor2D_WithXGuess_RecoversFullTransform)
const Transform xGuess(1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f); const Transform xGuess(1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f);
RegistrationInfo info; RegistrationInfo info;
const Transform t = runIcp(defaultIcpStrategy(), from, to, corridorIcpParams(defaultIcpStrategy()), xGuess, &info); const Transform t = runIcp(defaultIcpStrategy(), from, to,
corridorIcpParams(defaultIcpStrategy()), xGuess, &info);
ASSERT_FALSE(t.isNull()) << info.rejectedMsg; ASSERT_FALSE(t.isNull()) << info.rejectedMsg;
EXPECT_LT(t.getDistance(truth), 2e-2f) EXPECT_LT(t.getDistance(truth), 2e-2f)
<< "got=" << t.prettyPrint() << " truth=" << truth.prettyPrint(); << "got=" << t.prettyPrint() << " truth=" << truth.prettyPrint();
@@ -830,7 +840,7 @@ TEST(RegistrationIcpTest, RoomCorner2D_PointToPlane_RecoversFullTransform)
// libpointmatcher only -- PCL's TransformationEstimation2D is // libpointmatcher only -- PCL's TransformationEstimation2D is
// point-to-point and crashes mid-iteration when fed normals; see // point-to-point and crashes mid-iteration when fed normals; see
// makeCorridor2D / util3d_registration.cpp for context. // makeCorridor2D / util3d_registration.cpp for context.
if(!RegistrationIcp::available(RegistrationIcp::kIcpPointMatcher)) if(defaultIcpStrategy() != RegistrationIcp::kIcpPointMatcher)
{ {
GTEST_SKIP() << "2D PointToPlane requires libpointmatcher"; GTEST_SKIP() << "2D PointToPlane requires libpointmatcher";
} }