Add sample & test for features/normal_3d.cpp

pcl_ros/CMakeLists.txt

@@ -200,8 +200,9 @@ if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   add_rostest_gtest(test_tf_message_filter_pcl tests/test_tf_message_filter_pcl.launch src/test/test_tf_message_filter_pcl.cpp)
   target_link_libraries(test_tf_message_filter_pcl ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
-  add_rostest(samples/sample_statistical_outlier_removal.launch ARGS gui:=false)
-  add_rostest(samples/sample_voxel_grid.launch ARGS gui:=false)
+  add_rostest(samples/pcl_ros/features/sample_normal_3d.launch ARGS gui:=false)
+  add_rostest(samples/pcl_ros/filters/sample_statistical_outlier_removal.launch ARGS gui:=false)
+  add_rostest(samples/pcl_ros/filters/sample_voxel_grid.launch ARGS gui:=false)
 endif(CATKIN_ENABLE_TESTING)
 
 

pcl_ros/samples/pcl_ros/features/sample_normal_3d.launch

@@ -0,0 +1,44 @@
+<launch>
+
+  <arg name="gui" default="true" />
+
+  <!-- use voxel_grid for small cpu load in filtering -->
+  <include file="$(find pcl_ros)/samples/pcl_ros/filters/sample_voxel_grid.launch">
+    <arg name="gui" value="false" />
+    <arg name="test" value="false" />
+    <arg name="leaf_size" value="0.02" />
+  </include>
+
+  <node name="normal_estimation"
+        pkg="nodelet" type="nodelet"
+        args="standalone pcl/NormalEstimation">
+    <remap from="~input" to="voxel_grid/output" />
+    <rosparam>
+      radius_search: 0
+      k_search: 10
+      # 0, => ANN, 1 => FLANN, 2 => Organized
+      spatial_locator: 1
+    </rosparam>
+  </node>
+
+  <test test-name="test_normal_estimation"
+        name="test_normal_estimation"
+        pkg="rostest" type="hztest">
+    <rosparam>
+      topic: /normal_estimation/output
+      hz: 10
+      hzerror: 8
+      test_duration: 5.0
+    </rosparam>
+  </test>
+
+  <!-- TODO(wkentaro): Add sample visualization
+  <group if="$(arg gui)">
+    <node name="rviz"
+          pkg="rviz" type="rviz"
+          args="-d $(find pcl_ros)/samples/pcl_ros/filters/config/normal_estimation.rviz">
+    </node>
+  </group>
+  -->
+
+</launch>