test_bagread_subscribe.cpp

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 * $Id: test_bagread_subscribe.cpp 33326 2010-10-15 06:10:24Z rusu $
 *
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#include <gtest/gtest.h>
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/point_types.h>
#include <pcl/ros/conversions.h>

TEST (PCL_ROS, BAGReader)
{
  pcl::PointCloud<pcl::PointXYZRGB> points;

  int i = 0;
  while (i < 4)
  {
    // Get the message
    sensor_msgs::PointCloud2ConstPtr cloud = ros::topic::waitForMessage<sensor_msgs::PointCloud2> ("pcl_ros/test_bagreader", ros::Duration (5.0));
    ASSERT_TRUE (cloud);

    // Test
    EXPECT_EQ ((int)cloud->width, 640);
    EXPECT_EQ ((int)cloud->height, 480);
    EXPECT_EQ ((bool)cloud->is_dense, true);
    EXPECT_EQ ((size_t)cloud->data.size () * 2, cloud->width * cloud->height * sizeof (pcl::PointXYZRGB));

    // Convert to a PointCloud<T> type
    pcl::fromROSMsg (*cloud, points);
    ++i;
  }

  EXPECT_NEAR ((float)points.points[12345].x, -0.157809, 1e-5);
  EXPECT_NEAR ((float)points.points[12345].y, -0.239234, 1e-5);
  EXPECT_NEAR ((float)points.points[12345].z, 1.1289,   1e-5);
}

int
  main (int argc, char** argv)
{
  testing::InitGoogleTest (&argc, argv);
  ros::init (argc, argv, "test_bagread_subscribe");

  return (RUN_ALL_TESTS ());
}