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Correct conversion of time stamp (#319)

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* Add test to verify that stamps are correctly converted

* Fix bug in fromPCL function for headers
The time stamp was not set.
This commit is contained in:
Markus Vieth 2020-12-04 19:57:37 +01:00 committed by GitHub
parent 2d21467423
commit 135a2c29e3
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 5 additions and 2 deletions
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3
pcl_conversions/include/pcl_conversions/pcl_conversions.h
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@ -111,8 +111,7 @@ namespace pcl_conversions {
inline inline
void fromPCL(const pcl::PCLHeader &pcl_header, std_msgs::msg::Header &header) void fromPCL(const pcl::PCLHeader &pcl_header, std_msgs::msg::Header &header)
{ {
auto time_stamp = rclcpp::Time(header.stamp); header.stamp = fromPCL(pcl_header.stamp);
fromPCL(pcl_header.stamp, time_stamp);
header.frame_id = pcl_header.frame_id; header.frame_id = pcl_header.frame_id;
} }

4
pcl_conversions/test/test_pcl_conversions.cpp
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@ -9,6 +9,7 @@ namespace {
class PCLConversionTests : public ::testing::Test { class PCLConversionTests : public ::testing::Test {
protected: protected:
virtual void SetUp() { virtual void SetUp() {
pcl_image.header.stamp = 3141592653;
pcl_image.header.frame_id = "pcl"; pcl_image.header.frame_id = "pcl";
pcl_image.height = 1; pcl_image.height = 1;
pcl_image.width = 2; pcl_image.width = 2;
@ -19,6 +20,7 @@ protected:
pcl_image.data[0] = 0x42; pcl_image.data[0] = 0x42;
pcl_image.data[1] = 0x43; pcl_image.data[1] = 0x43;
pcl_pc2.header.stamp = 3141592653;
pcl_pc2.header.frame_id = "pcl"; pcl_pc2.header.frame_id = "pcl";
pcl_pc2.height = 1; pcl_pc2.height = 1;
pcl_pc2.width = 2; pcl_pc2.width = 2;
@ -66,6 +68,7 @@ TEST_F(PCLConversionTests, imageConversion) {
pcl::PCLImage pcl_image2; pcl::PCLImage pcl_image2;
pcl_conversions::toPCL(image, pcl_image2); pcl_conversions::toPCL(image, pcl_image2);
test_image(pcl_image2); test_image(pcl_image2);
EXPECT_EQ(pcl_image.header.stamp, pcl_image2.header.stamp);
} }
template<class T> template<class T>
@ -96,6 +99,7 @@ TEST_F(PCLConversionTests, pointcloud2Conversion) {
pcl::PCLPointCloud2 pcl_pc2_2; pcl::PCLPointCloud2 pcl_pc2_2;
pcl_conversions::toPCL(pc2, pcl_pc2_2); pcl_conversions::toPCL(pc2, pcl_pc2_2);
test_pc(pcl_pc2_2); test_pc(pcl_pc2_2);
EXPECT_EQ(pcl_pc2.header.stamp, pcl_pc2_2.header.stamp);
} }
} // namespace } // namespace