test_pointcloud2.cpp

Go to the documentation of this file.

/*
 * test_pose_conversions.cpp
 *
 *  Created on: Mar 15, 2012
 *      Author: Pablo Iñigo Blasco
 */

#include <mrpt/ros1bridge/point_cloud2.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <pcl/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl_conversions/pcl_conversions.h>
#include <gtest/gtest.h>

TEST(PointCloud2, basicTest)
{
        pcl::PointCloud<pcl::PointXYZ> point_cloud;

        point_cloud.height = 10;
        point_cloud.width = 10;
        point_cloud.is_dense = true;

        int num_points = point_cloud.height * point_cloud.width;
        point_cloud.points.resize(num_points);

        float i_f = 0;
        for (int i = 0; i < num_points; i++)
        {
                pcl::PointXYZ& point = point_cloud.points[i];
                point.x = i_f;
                point.y = -i_f;
                point.z = -2 * i_f;
                i_f += 1.0;
        }

        sensor_msgs::PointCloud2 point_cloud2_msg;
        // pcl_conversions::fromPCL(point_cloud, point_cloud2_msg);
        pcl::toROSMsg(point_cloud, point_cloud2_msg);

        mrpt::maps::CSimplePointsMap mrpt_pc;

        // printf("step 3\n");
        mrpt::ros1bridge::fromROS(point_cloud2_msg, mrpt_pc);

        i_f = 0;
        for (int i = 0; i < num_points; i++)
        {
                float mrpt_x, mrpt_y, mrpt_z;
                mrpt_pc.getPoint(i, mrpt_x, mrpt_y, mrpt_z);
                EXPECT_FLOAT_EQ(mrpt_x, i_f);
                EXPECT_FLOAT_EQ(mrpt_y, -i_f);
                EXPECT_FLOAT_EQ(mrpt_z, -2 * i_f);

                i_f += 1.0;
        }
        //;
}