Function main

test/recognition/test_recognition_ism.cpp:113–147

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/* ---[ */
int
main (int argc, char** argv)
{
  if (argc < 2)
  {
    std::cerr << "This test requires two point clouds (one for training and one for testing)." << std::endl;
    std::cerr << "You can use these two clouds 'ism_train.pcd' and 'ism_test.pcd'." << std::endl;
    return (-1);
  }

  training_cloud.reset (new pcl::PointCloud<pcl::PointXYZ>);
  if (pcl::io::loadPCDFile (argv[1], *training_cloud) < 0)
  {
    std::cerr << "Failed to read test file. Please download `ism_train.pcd` and pass its path to the test." << std::endl;
    return (-1);
  }
  testing_cloud.reset (new pcl::PointCloud<pcl::PointXYZ>);
  if (pcl::io::loadPCDFile (argv[2], *testing_cloud) < 0)
  {
    std::cerr << "Failed to read test file. Please download `ism_test.pcd` and pass its path to the test." << std::endl;
    return (-1);
  }

  training_normals.reset (new pcl::PointCloud<pcl::Normal>);
  testing_normals.reset (new pcl::PointCloud<pcl::Normal>);
  pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> normal_estimator;
  normal_estimator.setRadiusSearch (25.0);
  normal_estimator.setInputCloud(training_cloud);
  normal_estimator.compute(*training_normals);
  normal_estimator.setInputCloud(testing_cloud);
  normal_estimator.compute(*testing_normals);

  testing::InitGoogleTest (&argc, argv);
  return (RUN_ALL_TESTS ());
}
/* ]--- */