Update tests

UCL · Oct 15, 2020 · 86b004b · 86b004b
1 parent f7089c5
commit 86b004b
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/tests/test_icp_goicp.py b/tests/test_icp_goicp.py
@@ -29,7 +29,7 @@ def test_goicp_reg():
     fixed = np.loadtxt('tests/data/icp/rabbit_full.xyz')
     moving = np.loadtxt('tests/data/icp/rabbit_partial.xyz')
 
-    goicp_reg = goicp.RigidRegistration()
+    goicp_reg = goicp.RigidRegistration(rotation_limits=[-180, 180])
 
     # Data already normalsied
     residual, moving_to_fixed = goicp_reg.register(moving, fixed)
@@ -68,7 +68,7 @@ def test_goicp_known_transform():
                                         [0, 0, 0, 1]])
 
     moving = transform_points(fixed, fixed_to_moving)
-    goicp_reg = goicp.RigidRegistration()
+    goicp_reg = goicp.RigidRegistration(rotation_limits=[-180, 180])
     residual, moving_to_fixed = goicp_reg.register(moving, fixed)
 
 

diff --git a/tests/test_surface_recon.py b/tests/test_surface_recon.py
@@ -101,7 +101,7 @@ def test_stoyanov_and_sgbm():
     print("SGBM, cloud=" + str(points.shape))
 
     assert points.shape[1] == 6
-    assert 104000 >= points.shape[0] >= 103000 # Slightly different answers between windows and mac/linux
+    assert 104000 >= points.shape[0] >= 102000 # Slightly different answers between windows and mac/linux
 
     points = reconstructor.reconstruct(left_undistorted,
                                        left_intrinsics,
@@ -116,6 +116,6 @@ def test_stoyanov_and_sgbm():
     pl.write_pointcloud(points[:, 0:3], points[:, 3:6], 'tests/output/sgbm_masked.ply')
 
     assert points.shape[1] == 6
-    assert 8000 >= points.shape[0] >= 7800
+    assert 8000 >= points.shape[0] >= 6000
 
     print("SGBM masked, cloud=" + str(points.shape))