From f16207321bf8c42c3fc449243195748ef90e6b37 Mon Sep 17 00:00:00 2001
From: Kentaro Wada <www.kentaro.wada@gmail.com>
Date: Tue, 22 Aug 2017 19:10:38 +0000
Subject: [PATCH] Add sample & test for segmentation/extract_clusters.cpp

---
 pcl_ros/CMakeLists.txt                        |  3 +-
 .../sample_extract_clusters.launch            | 42 +++++++++++++++++++
 2 files changed, 44 insertions(+), 1 deletion(-)
 create mode 100644 pcl_ros/samples/pcl_ros/segmentation/sample_extract_clusters.launch

diff --git a/pcl_ros/CMakeLists.txt b/pcl_ros/CMakeLists.txt
index 03f7a3d0..9c40a697 100644
--- a/pcl_ros/CMakeLists.txt
+++ b/pcl_ros/CMakeLists.txt
@@ -5,7 +5,7 @@ project(pcl_ros)
 find_package(cmake_modules REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system filesystem thread)
 find_package(Eigen3 REQUIRED)
-find_package(PCL REQUIRED COMPONENTS core features filters io surface)
+find_package(PCL REQUIRED COMPONENTS core features filters io segmentation surface)
 
 if(NOT "${PCL_LIBRARIES}" STREQUAL "")
   # FIXME: this causes duplicates and not found error in ubuntu:zesty
@@ -203,6 +203,7 @@ if(CATKIN_ENABLE_TESTING)
   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)
+  add_rostest(samples/pcl_ros/segmentation/sample_extract_clusters.launch ARGS gui:=false)
 endif(CATKIN_ENABLE_TESTING)
 
 
diff --git a/pcl_ros/samples/pcl_ros/segmentation/sample_extract_clusters.launch b/pcl_ros/samples/pcl_ros/segmentation/sample_extract_clusters.launch
new file mode 100644
index 00000000..4f2d79a8
--- /dev/null
+++ b/pcl_ros/samples/pcl_ros/segmentation/sample_extract_clusters.launch
@@ -0,0 +1,42 @@
+<launch>
+
+  <arg name="gui" default="true" />
+
+  <!-- use voxel_grid for small cpu load in filtering -->
+  <include file="$(find pcl_ros)/samples/pcl_ros/filters/sample_voxel_grid.launch">
+    <arg name="gui" value="false" />
+    <arg name="test" value="false" />
+    <arg name="leaf_size" value="0.02" />
+  </include>
+
+  <node name="extract_clusters"
+        pkg="nodelet" type="nodelet"
+        args="standalone pcl/EuclideanClusterExtraction">
+    <remap from="~input" to="voxel_grid/output" />
+    <rosparam>
+      cluster_tolerance: 0.03
+      spatial_locator: 1  # FLANN
+    </rosparam>
+  </node>
+
+  <test test-name="test_extract_clusters"
+    name="test_extract_clusters"
+    pkg="rostest" type="hztest">
+    <rosparam>
+      topic: /extract_clusters/output
+      hz: 3000
+      hzerror: 1000
+      test_duration: 5.0
+    </rosparam>
+  </test>
+
+  <!-- TODO(wkentaro): Add sample visualization
+  <group if="$(arg gui)">
+    <node name="rviz"
+          pkg="rviz" type="rviz"
+          args="-d $(find pcl_ros)/samples/pcl_ros/segmentation/config/extract_clusters.rviz">
+    </node>
+  </group>
+  -->
+
+</launch>