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34 lines
1.2 KiB
34 lines
1.2 KiB
// This file is part of libigl, a simple c++ geometry processing library.
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//
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// Copyright (C) 2019 Alec Jacobson <alecjacobson@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla Public License
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// v. 2.0. If a copy of the MPL was not distributed with this file, You can
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// obtain one at http://mozilla.org/MPL/2.0/.
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#include <test_common.h>
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#include <igl/rigid_alignment.h>
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#include <igl/matlab_format.h>
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#include <iostream>
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TEST_CASE("rigid_alignment: identity", "[igl]")
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{
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const Eigen::MatrixXd X = (Eigen::MatrixXd(10,3)<<
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0.814724,0.157613,0.655741,
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0.905792,0.970593,0.035712,
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0.126987,0.957167,0.849129,
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0.913376,0.485376,0.933993,
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0.632359,0.800280,0.678735,
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0.097540,0.141886,0.757740,
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0.278498,0.421761,0.743132,
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0.546882,0.915736,0.392227,
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0.957507,0.792207,0.655478,
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0.964889,0.959492,0.171187).finished();
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const Eigen::MatrixXd Y = X;
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const Eigen::MatrixXd N = (Y.array()-0.5).matrix().rowwise().normalized();
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Eigen::Matrix3d R;
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Eigen::RowVector3d t;
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igl::rigid_alignment(X,Y,N,R,t);
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test_common::assert_near(R,Eigen::Matrix3d::Identity(),1e-12);
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test_common::assert_near(t,Eigen::RowVector3d::Zero(),1e-12);
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}
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