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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_io.cpp 28959 2010-04-22 00:17:47Z rusu $ 00035 * 00036 */ 00039 #include <gtest/gtest.h> 00040 #include <pcl/point_types.h> 00041 #include <sensor_msgs/PointCloud2.h> 00042 #include <pcl_ros/io/bag_io.h> 00043 #include <pcl/ros/conversions.h> 00044 00045 using namespace pcl; 00046 using namespace pcl_ros; 00047 00049 TEST (PCL_ROS, BAGReader) 00050 { 00051 sensor_msgs::PointCloud2ConstPtr cloud_blob, cloud_blob_prev; 00052 PointCloud<PointXYZRGB> cloud; 00053 00054 BAGReader reader; 00055 bool res = reader.open ("test_io_bag.bag", "/narrow_stereo_textured/points2"); 00056 EXPECT_EQ ((bool)res, true); 00057 int cnt = 0; 00058 do 00059 { 00060 cloud_blob_prev = cloud_blob; 00061 cloud_blob = reader.getNextCloud (); 00062 if (cloud_blob_prev != cloud_blob) 00063 { 00064 EXPECT_EQ ((int)cloud_blob->width, 640); 00065 EXPECT_EQ ((int)cloud_blob->height, 480); 00066 EXPECT_EQ ((bool)cloud_blob->is_dense, true); 00067 EXPECT_EQ ((size_t)cloud_blob->data.size () * 2, // PointXYZRGB is 16*2 (XYZ+1, RGB+3) 00068 cloud_blob->width * cloud_blob->height * sizeof (PointXYZRGB)); 00069 cnt++; 00070 } 00071 } 00072 while (cloud_blob != cloud_blob_prev); 00073 00074 EXPECT_EQ (cnt, 4); 00075 00076 // Convert from blob to data type 00077 pcl::fromROSMsg (*cloud_blob, cloud); 00078 00079 EXPECT_NEAR ((float)cloud.points[12345].x, -0.157809, 1e-5); 00080 EXPECT_NEAR ((float)cloud.points[12345].y, -0.239234, 1e-5); 00081 EXPECT_NEAR ((float)cloud.points[12345].z, 1.1289, 1e-5); 00082 } 00083 00084 /* ---[ */ 00085 int 00086 main (int argc, char** argv) 00087 { 00088 testing::InitGoogleTest (&argc, argv); 00089 return (RUN_ALL_TESTS ()); 00090 } 00091 /* ]--- */