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 *     with the distribution.
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 *     from this software without specific prior written permission.
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 * $Id: test_normal_estimation.cpp 5066 2012-03-14 06:42:21Z rusu $
 *
 */

#include <pcl/test/gtest.h>
#include <pcl/point_cloud.h>
#include <pcl/features/vfh.h>
#include <pcl/features/usc.h>
#include <pcl/features/statistical_multiscale_interest_region_extraction.h>
#include <pcl/features/spin_image.h>
#include <pcl/features/rsd.h>
#include <pcl/features/rift.h>
#include <pcl/features/normal_based_signature.h>

using namespace pcl;
using namespace std;

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, FeaturePtr)
{
  VFHEstimation<PointXYZ, PointNormal, VFHSignature308>::Ptr vfh (new VFHEstimation<PointXYZ, PointNormal, VFHSignature308> ());
  vfh->setViewPoint (1.0f, 1.0f, 1.0f);

  UniqueShapeContext<PointXYZ, UniqueShapeContext1960, ReferenceFrame>::Ptr usc (new UniqueShapeContext<PointXYZ, UniqueShapeContext1960, ReferenceFrame> ());
  usc->setMinimalRadius (5);

  StatisticalMultiscaleInterestRegionExtraction<PointXYZ>::Ptr smire (new StatisticalMultiscaleInterestRegionExtraction<PointXYZ> ());
  smire->getScalesVector ();

  SpinImageEstimation<PointXYZ, PointNormal, Histogram<153> >::Ptr spin (new SpinImageEstimation<PointXYZ, PointNormal, Histogram<153> > ());
  spin->setImageWidth (20);

//  RSDEstimation<PointXYZ, Normal, PrincipalRadiiRSD>::Ptr rsd (new RSDEstimation<PointXYZ, Normal, PrincipalRadiiRSD> ());
//  rsd->setNrSubdivisions (20);

#ifndef PCL_ONLY_CORE_POINT_TYPES
  RIFTEstimation<PointXYZI, IntensityGradient, Histogram<32> >::Ptr rift (new RIFTEstimation<PointXYZI, IntensityGradient, Histogram<32> > ());
  rift->setNrDistanceBins (10);
#endif
  NormalBasedSignatureEstimation<PointXYZ, Normal, NormalBasedSignature12>::Ptr nbs (new NormalBasedSignatureEstimation<PointXYZ, Normal, NormalBasedSignature12> ());
  nbs->setN (20);
}

/* ---[ */
int
main (int argc, char** argv)
{
  testing::InitGoogleTest (&argc, argv);
  return (RUN_ALL_TESTS ());
}
/* ]--- */
