test_io.cpp

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 * $Id: test_io.cpp 28959 2010-04-22 00:17:47Z rusu $
 *
 */
#include <gtest/gtest.h>
#include <pcl/point_types.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl_ros/io/bag_io.h>
#include <pcl/ros/conversions.h>

using namespace pcl;
using namespace pcl_ros;

TEST (PCL_ROS, BAGReader)
{
  sensor_msgs::PointCloud2ConstPtr cloud_blob, cloud_blob_prev;
  PointCloud<PointXYZRGB> cloud;

  BAGReader reader;
  bool res = reader.open ("test_io_bag.bag", "/narrow_stereo_textured/points2");
  EXPECT_EQ ((bool)res, true);
  int cnt = 0;
  do
  {
    cloud_blob_prev = cloud_blob;
    cloud_blob = reader.getNextCloud ();
    if (cloud_blob_prev != cloud_blob)
    {
      EXPECT_EQ ((int)cloud_blob->width, 640);
      EXPECT_EQ ((int)cloud_blob->height, 480);
      EXPECT_EQ ((bool)cloud_blob->is_dense, true);
      EXPECT_EQ ((size_t)cloud_blob->data.size () * 2,    // PointXYZRGB is 16*2 (XYZ+1, RGB+3)
                 cloud_blob->width * cloud_blob->height * sizeof (PointXYZRGB));
      cnt++;
    }
  }
  while (cloud_blob != cloud_blob_prev);

  EXPECT_EQ (cnt, 4);

  // Convert from blob to data type
  pcl::fromROSMsg (*cloud_blob, cloud);

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

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