Function TEST

test/features/test_normal_estimation.cpp:58–92

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TEST (PCL, computePointNormal)
{
  Eigen::Vector4f plane_parameters;
  float curvature;

  PointCloud<PointXYZ> c;
  
  PointXYZ p11 (706952.31f, 4087.6958f, 0.00000000f),
           p21 (707002.31f, 6037.6958f, 0.00000000f),
           p31 (706952.31f, 7937.6958f, 0.00000000f);
  c.push_back (p11); c.push_back (p21); c.push_back (p31);

  computePointNormal (cloud, plane_parameters, curvature);
//  std::cerr << plane_parameters << "\n";
  
  c.clear ();
  PointXYZ p12 (-439747.72f, -43597.250f, 0.0000000f),
           p22 (-439847.72f, -41697.250f, 0.0000000f),
           p32 (-439747.72f, -39797.250f, 0.0000000f);

  c.push_back (p12); c.push_back (p22); c.push_back (p32);

  computePointNormal (cloud, plane_parameters, curvature);
//  std::cerr << plane_parameters << "\n";

  c.clear ();
  PointXYZ p13 (567011.56f, -7741.8179f, 0.00000000f),
           p23 (567361.56f, -5841.8179f, 0.00000000f),
           p33 (567011.56f, -3941.8179f, 0.00000000f);

  c.push_back (p13); c.push_back (p23); c.push_back (p33);

  computePointNormal (cloud, plane_parameters, curvature);
//  std::cerr << plane_parameters << "\n";
}

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TEST (PCL, NormalEstimation)