test_ii_normals.cpp

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 * $Id: test_ii_normals.cpp 35790 2011-02-05 18:55:14Z holzers $
 *
 */
#include <gtest/gtest.h>

#include <boost/make_shared.hpp>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/features/integral_image_normal.h>

#include <iostream>

using namespace pcl;
using namespace pcl::io;
using namespace std;

PointCloud<PointXYZ> cloud;
IntegralImageNormalEstimation normalEstimator;


TEST (PCL, IINormalEstimation)
{
  Normal normal = normalEstimator.compute(cloud.width/2, cloud.height/2);
  
  EXPECT_NEAR (fabs (normal.normal_x), 0.0662114,  1e-4);
  EXPECT_NEAR (fabs (normal.normal_y), 0.597649,  1e-4);
  EXPECT_NEAR (fabs (normal.normal_z), 0.799019,  1e-4);
}


/* ---[ */
int
  main (int argc, char** argv)
{
  sensor_msgs::PointCloud2 cloud_blob;
  loadPCDFile ("./test/table_scene_mug_stereo_textured.pcd", cloud_blob);
  fromROSMsg (cloud_blob, cloud);
  
  normalEstimator.setInputData(
    reinterpret_cast<float*>(&(cloud.points[0])),
    cloud.width, cloud.height,
    3, sizeof(cloud.points[0])/sizeof(float), (sizeof(cloud.points[0])/sizeof(float))*cloud.width, 10.0f);
    
  normalEstimator.setRectSize(2, 2);
  
  testing::InitGoogleTest (&argc, argv);
  return (RUN_ALL_TESTS ());
  
  return 1;
}
/* ]--- */

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:24 2013