pointcloud2_unittest.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

/*
 * test_pose_conversions.cpp
 *
 *  Created on: Mar 15, 2012
 *      Author: Pablo Iñigo Blasco
 */

#include <gtest/gtest.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/ros1bridge/point_cloud2.h>

#if MRPT_HAVE_PCL_CONVERSIONS
#include <pcl/common/common_headers.h>
#include <pcl/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl_conversions/pcl_conversions.h>

TEST(PointCloud2, basicTest)
{
    pcl::PointCloud<pcl::PointXYZ> point_cloud;

    point_cloud.height = 10;
    point_cloud.width = 10;
    point_cloud.is_dense = true;

    int num_points = point_cloud.height * point_cloud.width;
    point_cloud.points.resize(num_points);

    float i_f = 0;
    for (int i = 0; i < num_points; i++)
    {
        pcl::PointXYZ& point = point_cloud.points[i];
        point.x = i_f;
        point.y = -i_f;
        point.z = -2 * i_f;
        i_f += 1.0;
    }

    sensor_msgs::PointCloud2 point_cloud2_msg;
    pcl::toROSMsg(point_cloud, point_cloud2_msg);

    mrpt::maps::CSimplePointsMap mrpt_pc;

    mrpt::ros1bridge::fromROS(point_cloud2_msg, mrpt_pc);

    i_f = 0;
    for (int i = 0; i < num_points; i++)
    {
        float mrpt_x, mrpt_y, mrpt_z;
        mrpt_pc.getPoint(i, mrpt_x, mrpt_y, mrpt_z);
        EXPECT_FLOAT_EQ(mrpt_x, i_f);
        EXPECT_FLOAT_EQ(mrpt_y, -i_f);
        EXPECT_FLOAT_EQ(mrpt_z, -2 * i_f);

        i_f += 1.0;
    }
    //;
}

#endif