Add alignment unit test for IterativeClosestPointWithNormals - #6454
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mvieth merged 1 commit intoAug 10, 2026
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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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The failing job is a transient CI/infrastructure error. Docker pull failed with exit code 1 and Value cannot be null (Parameter 'ContainerId') rather than a build or test failure. The tests themselves ran and passed (966/966). Could this job be re-run when convenient? The test also builds and passes locally on Ubuntu 24.04 / GCC. Thanks! |
larshg
approved these changes
Aug 10, 2026
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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.