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Fixup tests and pcl usage in CMakeList.txt

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This commit is contained in:
William Woodall 2013-07-12 13:59:30 -07:00
parent d4bc987fed
commit 2f1a58d442
3 changed files with 12 additions and 15 deletions
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1
.gitignore vendored
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@ -1 +1,2 @@
build build
*.sublime-*

10
CMakeLists.txt
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@ -3,17 +3,13 @@ project(pcl_conversions)
find_package(catkin REQUIRED COMPONENTS sensor_msgs std_msgs) find_package(catkin REQUIRED COMPONENTS sensor_msgs std_msgs)
# This line can be removed once this is addressed: find_package(PCL REQUIRED QUIET COMPONENTS common)
# https://github.com/PointCloudLibrary/pcl/issues/184
find_package(PCL REQUIRED)
find_package(PCL REQUIRED COMPONENTS COMMON)
include_directories(include ${catkin_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS}) include_directories(include ${catkin_INCLUDE_DIRS} ${PCL_COMMON_INCLUDE_DIRS})
catkin_package( catkin_package(
INCLUDE_DIRS include INCLUDE_DIRS include ${PCL_COMMON_INCLUDE_DIRS}
CATKIN_DEPENDS sensor_msgs std_msgs CATKIN_DEPENDS sensor_msgs std_msgs
DEPENDS pcl
) )
# Mark cpp header files for installation # Mark cpp header files for installation

16
test/test_pcl_conversions.cpp
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@ -28,11 +28,11 @@ protected:
pcl_pc2.is_dense = true; pcl_pc2.is_dense = true;
pcl_pc2.fields.resize(2); pcl_pc2.fields.resize(2);
pcl_pc2.fields[0].name = "XYZ"; pcl_pc2.fields[0].name = "XYZ";
pcl_pc2.fields[0].datatype = pcl_sensor_msgs::PCLPointField::INT8; pcl_pc2.fields[0].datatype = pcl::PCLPointField::INT8;
pcl_pc2.fields[0].count = 3; pcl_pc2.fields[0].count = 3;
pcl_pc2.fields[0].offset = 0; pcl_pc2.fields[0].offset = 0;
pcl_pc2.fields[1].name = "RGB"; pcl_pc2.fields[1].name = "RGB";
pcl_pc2.fields[1].datatype = pcl_sensor_msgs::PCLPointField::INT8; pcl_pc2.fields[1].datatype = pcl::PCLPointField::INT8;
pcl_pc2.fields[1].count = 3; pcl_pc2.fields[1].count = 3;
pcl_pc2.fields[1].offset = 8 * 3; pcl_pc2.fields[1].offset = 8 * 3;
pcl_pc2.data.resize(2); pcl_pc2.data.resize(2);
@ -40,10 +40,10 @@ protected:
pcl_pc2.data[1] = 0x43; pcl_pc2.data[1] = 0x43;
} }
pcl_sensor_msgs::PCLImage pcl_image; pcl::PCLImage pcl_image;
sensor_msgs::Image image; sensor_msgs::Image image;
pcl_sensor_msgs::PCLPointCloud2 pcl_pc2; pcl::PCLPointCloud2 pcl_pc2;
sensor_msgs::PointCloud2 pc2; sensor_msgs::PointCloud2 pc2;
}; };
@ -63,7 +63,7 @@ void test_image(T &image) {
TEST_F(PCLConversionTests, imageConversion) { TEST_F(PCLConversionTests, imageConversion) {
pcl_conversions::fromPCL(pcl_image, image); pcl_conversions::fromPCL(pcl_image, image);
test_image(image); test_image(image);
pcl_sensor_msgs::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);
} }
@ -78,11 +78,11 @@ void test_pc(T &pc) {
EXPECT_TRUE(pc.is_bigendian); EXPECT_TRUE(pc.is_bigendian);
EXPECT_TRUE(pc.is_dense); EXPECT_TRUE(pc.is_dense);
EXPECT_EQ("XYZ", pc.fields[0].name); EXPECT_EQ("XYZ", pc.fields[0].name);
EXPECT_EQ(pcl_sensor_msgs::PCLPointField::INT8, pc.fields[0].datatype); EXPECT_EQ(pcl::PCLPointField::INT8, pc.fields[0].datatype);
EXPECT_EQ(3, pc.fields[0].count); EXPECT_EQ(3, pc.fields[0].count);
EXPECT_EQ(0, pc.fields[0].offset); EXPECT_EQ(0, pc.fields[0].offset);
EXPECT_EQ("RGB", pc.fields[1].name); EXPECT_EQ("RGB", pc.fields[1].name);
EXPECT_EQ(pcl_sensor_msgs::PCLPointField::INT8, pc.fields[1].datatype); EXPECT_EQ(pcl::PCLPointField::INT8, pc.fields[1].datatype);
EXPECT_EQ(3, pc.fields[1].count); EXPECT_EQ(3, pc.fields[1].count);
EXPECT_EQ(8 * 3, pc.fields[1].offset); EXPECT_EQ(8 * 3, pc.fields[1].offset);
EXPECT_EQ(2, pc.data.size()); EXPECT_EQ(2, pc.data.size());
@ -93,7 +93,7 @@ void test_pc(T &pc) {
TEST_F(PCLConversionTests, pointcloud2Conversion) { TEST_F(PCLConversionTests, pointcloud2Conversion) {
pcl_conversions::fromPCL(pcl_pc2, pc2); pcl_conversions::fromPCL(pcl_pc2, pc2);
test_pc(pc2); test_pc(pc2);
pcl_sensor_msgs::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);
} }