test_compression.cpp

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#include <cv_bridge/cv_bridge.h>
#include <stdio.h>
#include <gtest/gtest.h>

TEST(CvBridgeTest, compression)
{
  cv::RNG rng(0);
  std_msgs::Header header;

  // Test 3 channel images.
  for (int i = 0; i < 2; ++i)
  {
    const std::string format = (i == 0) ? "bgr8" : "rgb8";
    cv::Mat_<cv::Vec3b> in(10, 10);
    rng.fill(in, cv::RNG::UNIFORM, 0, 256);

    sensor_msgs::CompressedImagePtr msg = cv_bridge::CvImage(header, format, in).toCompressedImageMsg(cv_bridge::PNG);
    const cv_bridge::CvImageConstPtr out = cv_bridge::toCvCopy(msg, format);

    EXPECT_EQ(out->image.channels(), 3);
    EXPECT_EQ(cv::norm(out->image, in), 0);
  }

  // Test 4 channel images.
  for (int i = 0; i < 2; ++i)
  {
    const std::string format = (i == 0) ? "bgra8" : "rgba8";
    cv::Mat_<cv::Vec4b> in(10, 10);
    rng.fill(in, cv::RNG::UNIFORM, 0, 256);

    sensor_msgs::CompressedImagePtr msg = cv_bridge::CvImage(header, format, in).toCompressedImageMsg(cv_bridge::PNG);
    const cv_bridge::CvImageConstPtr out = cv_bridge::toCvCopy(msg, format);
    EXPECT_EQ(out->image.channels(), 4);
    EXPECT_EQ(cv::norm(out->image, in), 0);
  }
}