code: import unittest
  import numpy as np
  import transforms3d as t3d
  import open3d as o3
  from probreg import l2dist_regs
  from probreg import transformation as tf
  
  
  class SVRTest(unittest.TestCase):
      def setUp(self):
          pcd = o3.io.read_point_cloud('data/horse.ply')
          pcd = pcd.voxel_down_sample(voxel_size=0.01)
          self._source = np.asarray(pcd.points)
          rot = t3d.euler.euler2mat(*np.random.uniform(0.0, np.pi / 4, 3))
          self._tf = tf.RigidTransformation(rot, np.zeros(3))
          self._target = self._tf.transform(self._source)
  
      def test_svr_registration(self):
          res = l2dist_regs.registration_svr(self._source, self._target)
          self.assertTrue(np.allclose(t3d.euler.mat2euler(res.rot),
                                      t3d.euler.mat2euler(self._tf.rot), atol=1.0e-1, rtol=1.0e-1))
          self.assertTrue(np.allclose(res.t, self._tf.t, atol=1.0e-2, rtol=1.0e-3))
  
  if __name__ == "__main__":
      unittest.main()
apis: numpy.random.uniform numpy.allclose numpy.asarray numpy.zeros