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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2012, Willow Garage, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: test_normal_estimation.cpp 5066 2012-03-14 06:42:21Z rusu $
*
*/
#include <pcl/test/gtest.h>
#include <pcl/point_cloud.h>
#include <pcl/features/vfh.h>
#include <pcl/features/usc.h>
#include <pcl/features/statistical_multiscale_interest_region_extraction.h>
#include <pcl/features/spin_image.h>
#include <pcl/features/rsd.h>
#include <pcl/features/rift.h>
#include <pcl/features/normal_based_signature.h>
using namespace pcl;
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, FeaturePtr)
{
VFHEstimation<PointXYZ, PointNormal, VFHSignature308>::Ptr vfh (new VFHEstimation<PointXYZ, PointNormal, VFHSignature308> ());
vfh->setViewPoint (1.0f, 1.0f, 1.0f);
UniqueShapeContext<PointXYZ, UniqueShapeContext1960, ReferenceFrame>::Ptr usc (new UniqueShapeContext<PointXYZ, UniqueShapeContext1960, ReferenceFrame> ());
usc->setMinimalRadius (5);
StatisticalMultiscaleInterestRegionExtraction<PointXYZ>::Ptr smire (new StatisticalMultiscaleInterestRegionExtraction<PointXYZ> ());
smire->getScalesVector ();
SpinImageEstimation<PointXYZ, PointNormal, Histogram<153> >::Ptr spin (new SpinImageEstimation<PointXYZ, PointNormal, Histogram<153> > ());
spin->setImageWidth (20);
// RSDEstimation<PointXYZ, Normal, PrincipalRadiiRSD>::Ptr rsd (new RSDEstimation<PointXYZ, Normal, PrincipalRadiiRSD> ());
// rsd->setNrSubdivisions (20);
#ifndef PCL_ONLY_CORE_POINT_TYPES
RIFTEstimation<PointXYZI, IntensityGradient, Histogram<32> >::Ptr rift (new RIFTEstimation<PointXYZI, IntensityGradient, Histogram<32> > ());
rift->setNrDistanceBins (10);
#endif
NormalBasedSignatureEstimation<PointXYZ, Normal, NormalBasedSignature12>::Ptr nbs (new NormalBasedSignatureEstimation<PointXYZ, Normal, NormalBasedSignature12> ());
nbs->setN (20);
}
/* ---[ */
int
main (int argc, char** argv)
{
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}
/* ]--- */
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