test_shot_estimation.cpp File Reference

#include <gtest/gtest.h>
#include <pcl/point_cloud.h>
#include <pcl/features/normal_3d_omp.h>
#include <pcl/io/pcd_io.h>
#include <pcl/features/shot.h>
#include <pcl/features/shot_omp.h>
#include "pcl/features/shot_lrf.h"
#include <pcl/features/3dsc.h>
#include <pcl/features/usc.h>

Include dependency graph for test_shot_estimation.cpp:

Go to the source code of this file.

Classes
struct	createSHOTDesc< FeatureEstimation, PointT, NormalT, OutputT >
struct	createSHOTDesc< FeatureEstimation, PointT, NormalT, SHOT1344 >
struct	createSHOTDesc< FeatureEstimation, PointT, NormalT, SHOT352 >
struct	createSHOTDesc< ShapeContext3DEstimation< PointT, NormalT, OutputT >, PointT, NormalT, OutputT >
struct	createSHOTDesc< UniqueShapeContext< PointT, OutputT >, PointT, NormalT, OutputT >
Typedefs
typedef search::KdTree < PointXYZ >::Ptr	KdTreePtr
Functions
template<typename PointT >
void	checkDesc (const pcl::PointCloud< PointT > &d0, const pcl::PointCloud< PointT > &d1)
template<>
void	checkDesc< ShapeContext1980 > (const pcl::PointCloud< ShapeContext1980 > &d0, const pcl::PointCloud< ShapeContext1980 > &d1)
template<>
void	checkDesc< SHOT1344 > (const pcl::PointCloud< SHOT1344 > &d0, const pcl::PointCloud< SHOT1344 > &d1)
template<>
void	checkDesc< SHOT352 > (const pcl::PointCloud< SHOT352 > &d0, const pcl::PointCloud< SHOT352 > &d1)
int	main (int argc, char **argv)
template<typename PointT >
void	shotCopyPointCloud (const PointCloud< PointT > &cloud_in, const std::vector< int > &indices, PointCloud< PointT > &cloud_out)
	TEST (PCL, SHOTShapeEstimation)
	TEST (PCL, SHOTShapeAndColorEstimation)
	TEST (PCL, SHOTShapeEstimationOpenMP)
	TEST (PCL, SHOTShapeAndColorEstimationOpenMP)
	TEST (PCL, 3DSCEstimation)
	TEST (PCL, USCEstimation)
template<typename FeatureEstimation , typename PointT , typename NormalT , typename OutputT >
void	testSHOTIndicesAndSearchSurface (const typename PointCloud< PointT >::Ptr &points, const typename PointCloud< NormalT >::Ptr &normals, const boost::shared_ptr< vector< int > > &indices, const int nr_shape_bins=10, const int nr_color_bins=30, const bool describe_shape=true, const bool describe_color=false)
template<typename FeatureEstimation , typename PointT , typename NormalT , typename OutputT >
void	testSHOTLocalReferenceFrame (const typename PointCloud< PointT >::Ptr &points, const typename PointCloud< NormalT >::Ptr &normals, const boost::shared_ptr< vector< int > > &indices, const int nr_shape_bins=10, const int nr_color_bins=30, const bool describe_shape=true, const bool describe_color=false)
Variables
PointCloud< PointXYZ >	cloud
vector< int >	indices
KdTreePtr	tree

---

Typedef Documentation

typedef search::KdTree<PointXYZ>::Ptr KdTreePtr

Definition at line 54 of file test_shot_estimation.cpp.

---

Function Documentation

template<typename PointT >

void checkDesc	(	const pcl::PointCloud< PointT > &	d0,
		const pcl::PointCloud< PointT > &	d1
	)

Definition at line 70 of file test_shot_estimation.cpp.

template<>

void checkDesc< ShapeContext1980 >	(	const pcl::PointCloud< ShapeContext1980 > &	d0,
		const pcl::PointCloud< ShapeContext1980 > &	d1
	)

Definition at line 100 of file test_shot_estimation.cpp.

template<>

void checkDesc< SHOT1344 >	(	const pcl::PointCloud< SHOT1344 > &	d0,
		const pcl::PointCloud< SHOT1344 > &	d1
	)

Definition at line 90 of file test_shot_estimation.cpp.

template<>

void checkDesc< SHOT352 >	(	const pcl::PointCloud< SHOT352 > &	d0,
		const pcl::PointCloud< SHOT352 > &	d1
	)

Definition at line 80 of file test_shot_estimation.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 982 of file test_shot_estimation.cpp.

template<typename PointT >

void shotCopyPointCloud	(	const PointCloud< PointT > &	cloud_in,
		const std::vector< int > &	indices,
		PointCloud< PointT > &	cloud_out
	)

Definition at line 62 of file test_shot_estimation.cpp.

TEST	(	PCL	,
		SHOTShapeEstimation
	)

Definition at line 339 of file test_shot_estimation.cpp.

TEST	(	PCL	,
		SHOTShapeAndColorEstimation
	)

Definition at line 495 of file test_shot_estimation.cpp.

TEST	(	PCL	,
		SHOTShapeEstimationOpenMP
	)

Definition at line 619 of file test_shot_estimation.cpp.

TEST	(	PCL	,
		SHOTShapeAndColorEstimationOpenMP
	)

Definition at line 711 of file test_shot_estimation.cpp.

TEST	(	PCL	,
		3DSCEstimation
	)

Definition at line 839 of file test_shot_estimation.cpp.

TEST	(	PCL	,
		USCEstimation
	)

Definition at line 920 of file test_shot_estimation.cpp.

template<typename FeatureEstimation , typename PointT , typename NormalT , typename OutputT >

void testSHOTIndicesAndSearchSurface	(	const typename PointCloud< PointT >::Ptr &	points,
		const typename PointCloud< NormalT >::Ptr &	normals,
		const boost::shared_ptr< vector< int > > &	indices,
		const int	nr_shape_bins = 10,
		const int	nr_color_bins = 30,
		const bool	describe_shape = true,
		const bool	describe_color = false
	)

Definition at line 202 of file test_shot_estimation.cpp.

template<typename FeatureEstimation , typename PointT , typename NormalT , typename OutputT >

void testSHOTLocalReferenceFrame	(	const typename PointCloud< PointT >::Ptr &	points,
		const typename PointCloud< NormalT >::Ptr &	normals,
		const boost::shared_ptr< vector< int > > &	indices,
		const int	nr_shape_bins = 10,
		const int	nr_color_bins = 30,
		const bool	describe_shape = true,
		const bool	describe_color = false
	)

Definition at line 274 of file test_shot_estimation.cpp.

---

Variable Documentation

PointCloud<PointXYZ> cloud

Definition at line 56 of file test_shot_estimation.cpp.

vector<int> indices

Definition at line 57 of file test_shot_estimation.cpp.

KdTreePtr tree

Definition at line 58 of file test_shot_estimation.cpp.