$search
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: test_bagread_subscribe.cpp 33326 2010-10-15 06:10:24Z rusu $ 00035 * 00036 */ 00037 00042 #include <gtest/gtest.h> 00043 #include <ros/ros.h> 00044 #include <sensor_msgs/PointCloud2.h> 00045 #include <pcl/point_types.h> 00046 #include <pcl/ros/conversions.h> 00047 00048 TEST (PCL_ROS, BAGReader) 00049 { 00050 pcl::PointCloud<pcl::PointXYZRGB> points; 00051 00052 int i = 0; 00053 while (i < 4) 00054 { 00055 // Get the message 00056 sensor_msgs::PointCloud2ConstPtr cloud = ros::topic::waitForMessage<sensor_msgs::PointCloud2> ("pcl_ros/test_bagreader", ros::Duration (5.0)); 00057 ASSERT_TRUE (cloud); 00058 00059 // Test 00060 EXPECT_EQ ((int)cloud->width, 640); 00061 EXPECT_EQ ((int)cloud->height, 480); 00062 EXPECT_EQ ((bool)cloud->is_dense, true); 00063 EXPECT_EQ ((size_t)cloud->data.size () * 2, cloud->width * cloud->height * sizeof (pcl::PointXYZRGB)); 00064 00065 // Convert to a PointCloud<T> type 00066 pcl::fromROSMsg (*cloud, points); 00067 ++i; 00068 } 00069 00070 EXPECT_NEAR ((float)points.points[12345].x, -0.157809, 1e-5); 00071 EXPECT_NEAR ((float)points.points[12345].y, -0.239234, 1e-5); 00072 EXPECT_NEAR ((float)points.points[12345].z, 1.1289, 1e-5); 00073 } 00074 00075 int 00076 main (int argc, char** argv) 00077 { 00078 testing::InitGoogleTest (&argc, argv); 00079 ros::init (argc, argv, "test_bagread_subscribe"); 00080 00081 return (RUN_ALL_TESTS ()); 00082 }