test_compression.cpp
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00001 #include <cv_bridge/cv_bridge.h>
00002 #include <stdio.h>
00003 #include <gtest/gtest.h>
00004 
00005 TEST(CvBridgeTest, compression)
00006 {
00007   cv::RNG rng(0);
00008   std_msgs::Header header;
00009 
00010   // Test 3 channel images.
00011   for (int i = 0; i < 2; ++i)
00012   {
00013     const std::string format = (i == 0) ? "bgr8" : "rgb8";
00014     cv::Mat_<cv::Vec3b> in(10, 10);
00015     rng.fill(in, cv::RNG::UNIFORM, 0, 256);
00016 
00017     sensor_msgs::CompressedImagePtr msg = cv_bridge::CvImage(header, format, in).toCompressedImageMsg(cv_bridge::PNG);
00018     const cv_bridge::CvImageConstPtr out = cv_bridge::toCvCopy(msg, format);
00019 
00020     EXPECT_EQ(out->image.channels(), 3);
00021     EXPECT_EQ(cv::norm(out->image, in), 0);
00022   }
00023 
00024   // Test 4 channel images.
00025   for (int i = 0; i < 2; ++i)
00026   {
00027     const std::string format = (i == 0) ? "bgra8" : "rgba8";
00028     cv::Mat_<cv::Vec4b> in(10, 10);
00029     rng.fill(in, cv::RNG::UNIFORM, 0, 256);
00030 
00031     sensor_msgs::CompressedImagePtr msg = cv_bridge::CvImage(header, format, in).toCompressedImageMsg(cv_bridge::PNG);
00032     const cv_bridge::CvImageConstPtr out = cv_bridge::toCvCopy(msg, format);
00033     EXPECT_EQ(out->image.channels(), 4);
00034     EXPECT_EQ(cv::norm(out->image, in), 0);
00035   }
00036 }


cv_bridge
Author(s): Patrick Mihelich, James Bowman
autogenerated on Thu Jun 6 2019 21:23:27