C++ (Cpp) NormalDistributionsTransform::setInputCloud Beispiele

Beispiel #1

Datei: test_registration.cpp Projekt: cgrad/pcl

TEST (PCL, NormalDistributionsTransform)
{
    typedef PointNormal PointT;
    PointCloud<PointT>::Ptr src (new PointCloud<PointT>);
    copyPointCloud (cloud_source, *src);
    PointCloud<PointT>::Ptr tgt (new PointCloud<PointT>);
    copyPointCloud (cloud_target, *tgt);
    PointCloud<PointT> output;

    NormalDistributionsTransform<PointT, PointT> reg;
    reg.setStepSize (0.05);
    reg.setResolution (0.025f);
    reg.setInputCloud (src);
    reg.setInputTarget (tgt);
    reg.setMaximumIterations (50);
    reg.setTransformationEpsilon (1e-8);

    // Register
    reg.align (output);
    EXPECT_EQ (int (output.points.size ()), int (cloud_source.points.size ()));

    EXPECT_LT (reg.getFitnessScore (), 0.001);
}