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Added unit test for points almost on a line, that previously resulted in NAN values. #6426

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Merged
larshg merged 2 commits into from
Apr 27, 2026
+30 −0
Merged

Added unit test for points almost on a line, that previously resulted in NAN values. #6426

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Added unit test for points almost on a line, that previously resulted…
larshg Apr 15, 2026
be6e39b
Update per review.
larshg Apr 24, 2026
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30 changes: 30 additions & 0 deletions test/surface/test_moving_least_squares.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,36 @@ PointCloud<PointNormal>::Ptr cloud_with_normals1 (new PointCloud<PointNormal>);
search::KdTree<PointXYZ>::Ptr tree3;
search::KdTree<PointNormal>::Ptr tree4;

TEST(PCL, MovingLeastSquares_almost_on_line)
{
PointCloud<PointXYZ>::Ptr cloud_almost_on_line (new PointCloud<PointXYZ>);
cloud_almost_on_line->push_back(pcl::PointXYZ(-89.546, 4.03964, 450.883));
cloud_almost_on_line->push_back(pcl::PointXYZ(-88.8728, 4.03964, 450.883));
cloud_almost_on_line->push_back(pcl::PointXYZ(-86.8529, 4.03964, 450.883));
cloud_almost_on_line->push_back(pcl::PointXYZ(-85.5064, 4.03964, 450.883));

// Init objects
PointCloud<PointXYZ> mls_points;
MovingLeastSquares<PointXYZ, PointXYZ> mls;

// Set parameters
mls.setInputCloud(cloud_almost_on_line);
mls.setSearchRadius(4.65032);
mls.setUpsamplingMethod(MovingLeastSquares<PointXYZ, PointXYZ>::SAMPLE_LOCAL_PLANE);
mls.setUpsamplingRadius(0.8);
mls.setUpsamplingStepSize(0.4);

// Reconstruct
mls.process(mls_points);
ASSERT_FALSE(mls_points.empty());

for (const auto& mls_point : mls_points)
{
// Check for NaNs in output
EXPECT_TRUE(pcl::isFinite(mls_point));
}
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}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, MovingLeastSquares)
{
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