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Add sample & test for features/normal_3d.cpp

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Kentaro Wada 2017-08-22 18:48:07 +00:00 committed by Paul Bovbel
parent 87e7555655
commit 3e5c704046
2 changed files with 47 additions and 2 deletions
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5
pcl_ros/CMakeLists.txt
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@ -200,8 +200,9 @@ if(CATKIN_ENABLE_TESTING)
find_package(rostest REQUIRED) 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) 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}) 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/pcl_ros/features/sample_normal_3d.launch ARGS gui:=false)
add_rostest(samples/sample_voxel_grid.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) endif(CATKIN_ENABLE_TESTING)

44
pcl_ros/samples/pcl_ros/features/sample_normal_3d.launch Normal file
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@ -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>