apoorva/greenhouse
2
1
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Updated ROS2 PR: pcl_conversion only to ROS2 (dashing) (#244)

Browse Source 
* pcl_conversion to ros2

* travis for ros2 and fixed cmakelists

* exporting dependencies

* updated travis

* fixed smaller things

* added colcon ignore to meta package

* merge pcl_conversions.h with version released in Dashing

* merge test script, CMakeListst, package.xml

* append authors, clean up

* PR feedback

* fixed PR comments

* fixed PR comments, cmakelists message_filters, reverted type masq, added maintainer

* removed dashing and made ros_distro matrix env
This commit is contained in:
Andreas Klintberg
2019-10-29 19:10:32 -04:00
committed by Steven Macenski
parent a8ba2c790d
commit a1fd4d2a09
10 changed files with 227 additions and 296 deletions
Download Patch File Download Diff File Expand all files Collapse all files
pcl_conversions/test/test_pcl_conversions.cpp
+23 -23
View File
@@ -41,21 +41,21 @@ protected:
}
pcl::PCLImage pcl_image;
sensor_msgs::Image image;
sensor_msgs::msg::Image image;
pcl::PCLPointCloud2 pcl_pc2;
sensor_msgs::PointCloud2 pc2;
sensor_msgs::msg::PointCloud2 pc2;
};
template<class T>
void test_image(T &image) {
EXPECT_EQ(std::string("pcl"), image.header.frame_id);
EXPECT_EQ(1, image.height);
EXPECT_EQ(2, image.width);
EXPECT_EQ(1, image.step);
EXPECT_EQ(1U, image.height);
EXPECT_EQ(2U, image.width);
EXPECT_EQ(1U, image.step);
EXPECT_TRUE(image.is_bigendian);
EXPECT_EQ(std::string("bgr8"), image.encoding);
EXPECT_EQ(2, image.data.size());
EXPECT_EQ(2U, image.data.size());
EXPECT_EQ(0x42, image.data[0]);
EXPECT_EQ(0x43, image.data[1]);
}
@@ -71,21 +71,21 @@ TEST_F(PCLConversionTests, imageConversion) {
template<class T>
void test_pc(T &pc) {
EXPECT_EQ(std::string("pcl"), pc.header.frame_id);
EXPECT_EQ(1, pc.height);
EXPECT_EQ(2, pc.width);
EXPECT_EQ(1, pc.point_step);
EXPECT_EQ(1, pc.row_step);
EXPECT_EQ(1U, pc.height);
EXPECT_EQ(2U, pc.width);
EXPECT_EQ(1U, pc.point_step);
EXPECT_EQ(1U, pc.row_step);
EXPECT_TRUE(pc.is_bigendian);
EXPECT_TRUE(pc.is_dense);
EXPECT_EQ("XYZ", pc.fields[0].name);
EXPECT_EQ(pcl::PCLPointField::INT8, pc.fields[0].datatype);
EXPECT_EQ(3, pc.fields[0].count);
EXPECT_EQ(0, pc.fields[0].offset);
EXPECT_EQ(3U, pc.fields[0].count);
EXPECT_EQ(0U, pc.fields[0].offset);
EXPECT_EQ("RGB", pc.fields[1].name);
EXPECT_EQ(pcl::PCLPointField::INT8, pc.fields[1].datatype);
EXPECT_EQ(3, pc.fields[1].count);
EXPECT_EQ(8 * 3, pc.fields[1].offset);
EXPECT_EQ(2, pc.data.size());
EXPECT_EQ(3U, pc.fields[1].count);
EXPECT_EQ(8U * 3U, pc.fields[1].offset);
EXPECT_EQ(2U, pc.data.size());
EXPECT_EQ(0x42, pc.data[0]);
EXPECT_EQ(0x43, pc.data[1]);
}
@@ -103,10 +103,10 @@ TEST_F(PCLConversionTests, pointcloud2Conversion) {
struct StampTestData
{
const ros::Time stamp_;
ros::Time stamp2_;
const rclcpp::Time stamp_;
rclcpp::Time stamp2_;
explicit StampTestData(const ros::Time &stamp)
explicit StampTestData(const rclcpp::Time &stamp)
: stamp_(stamp)
{
pcl::uint64_t pcl_stamp;
@@ -118,27 +118,27 @@ struct StampTestData
TEST(PCLConversionStamp, Stamps)
{
{
const StampTestData d(ros::Time(1.000001));
const StampTestData d(rclcpp::Time(1, 1000));
EXPECT_TRUE(d.stamp_==d.stamp2_);
}
{
const StampTestData d(ros::Time(1.999999));
const StampTestData d(rclcpp::Time(1, 999999000));
EXPECT_TRUE(d.stamp_==d.stamp2_);
}
{
const StampTestData d(ros::Time(1.999));
const StampTestData d(rclcpp::Time(1, 999000000));
EXPECT_TRUE(d.stamp_==d.stamp2_);
}
{
const StampTestData d(ros::Time(1423680574, 746000000));
const StampTestData d(rclcpp::Time(1423680574, 746000000));
EXPECT_TRUE(d.stamp_==d.stamp2_);
}
{
const StampTestData d(ros::Time(1423680629, 901000000));
const StampTestData d(rclcpp::Time(1423680629, 901000000));
EXPECT_TRUE(d.stamp_==d.stamp2_);
}
}