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Add sample & test for segmentation/extract_clusters.cpp

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Kentaro Wada 2017-08-22 19:10:38 +00:00 committed by Paul Bovbel
parent 419366b5f5
commit f16207321b
2 changed files with 44 additions and 1 deletions
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3
pcl_ros/CMakeLists.txt
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@ -5,7 +5,7 @@ project(pcl_ros)
find_package(cmake_modules REQUIRED) find_package(cmake_modules REQUIRED)
find_package(Boost REQUIRED COMPONENTS system filesystem thread) find_package(Boost REQUIRED COMPONENTS system filesystem thread)
find_package(Eigen3 REQUIRED) 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 "${PCL_LIBRARIES}" STREQUAL "") if(NOT "${PCL_LIBRARIES}" STREQUAL "")
# FIXME: this causes duplicates and not found error in ubuntu:zesty # 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/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_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/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) endif(CATKIN_ENABLE_TESTING)

42
pcl_ros/samples/pcl_ros/segmentation/sample_extract_clusters.launch Normal file
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@ -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>