test_ptr.cpp
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00001 /*
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00036  * $Id: test_normal_estimation.cpp 5066 2012-03-14 06:42:21Z rusu $
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00038  */
00039 
00040 #include <gtest/gtest.h>
00041 #include <pcl/point_cloud.h>
00042 #include <pcl/features/vfh.h>
00043 #include <pcl/features/usc.h>
00044 #include <pcl/features/statistical_multiscale_interest_region_extraction.h>
00045 #include <pcl/features/spin_image.h>
00046 #include <pcl/features/rsd.h>
00047 #include <pcl/features/rift.h>
00048 #include <pcl/features/normal_based_signature.h>
00049 
00050 using namespace pcl;
00051 using namespace std;
00052 
00054 TEST (PCL, FeaturePtr)
00055 {
00056   VFHEstimation<PointXYZ, PointNormal, VFHSignature308>::Ptr vfh (new VFHEstimation<PointXYZ, PointNormal, VFHSignature308> ());
00057   vfh->setViewPoint (1.0f, 1.0f, 1.0f);
00058 
00059   UniqueShapeContext<PointXYZ, ShapeContext1980, ReferenceFrame>::Ptr usc (new UniqueShapeContext<PointXYZ, ShapeContext1980, ReferenceFrame> ());
00060   usc->setMinimalRadius (5);
00061 
00062   StatisticalMultiscaleInterestRegionExtraction<PointXYZ>::Ptr smire (new StatisticalMultiscaleInterestRegionExtraction<PointXYZ> ());
00063   smire->getScalesVector ();
00064 
00065   SpinImageEstimation<PointXYZ, PointNormal, Histogram<153> >::Ptr spin (new SpinImageEstimation<PointXYZ, PointNormal, Histogram<153> > ());
00066   spin->setImageWidth (20);
00067 
00068 //  RSDEstimation<PointXYZ, Normal, PrincipalRadiiRSD>::Ptr rsd (new RSDEstimation<PointXYZ, Normal, PrincipalRadiiRSD> ());
00069 //  rsd->setNrSubdivisions (20);
00070 
00071 #ifndef PCL_ONLY_CORE_POINT_TYPES
00072   RIFTEstimation<PointXYZI, IntensityGradient, Histogram<32> >::Ptr rift (new RIFTEstimation<PointXYZI, IntensityGradient, Histogram<32> > ());
00073   rift->setNrDistanceBins (10);
00074 #endif
00075   NormalBasedSignatureEstimation<PointXYZ, Normal, NormalBasedSignature12>::Ptr nbs (new NormalBasedSignatureEstimation<PointXYZ, Normal, NormalBasedSignature12> ());
00076   nbs->setN (20);
00077 }
00078 
00079 /* ---[ */
00080 int
00081 main (int argc, char** argv)
00082 {
00083   testing::InitGoogleTest (&argc, argv);
00084   return (RUN_ALL_TESTS ());
00085 }
00086 /* ]--- */


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:35:34