DuongTD/laser_geometry
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update to tf3

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duongtd
2025-11-17 15:03:25 +07:00
parent 624f24fdd4
commit 5e9993268f
5 changed files with 64 additions and 64 deletions
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16
test/projection_test.cpp
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@@ -256,7 +256,7 @@ TEST(laser_geometry, projectLaser2) {
// Needs to publish a transform to "laser_frame" in order to work.
#if 0
TEST(laser_geometry, transformLaserScanToPointCloud2) {
tf2::BufferCore tf2;
tf3::BufferCore tf3;
double tolerance = 1e-12;
laser_geometry::LaserProjection projector;
@@ -325,34 +325,34 @@ TEST(laser_geometry, transformLaserScanToPointCloud2) {
sensor_msgs::PointCloud2 cloud_out;
projector.transformLaserScanToPointCloud(
scan.header.frame_id, scan, cloud_out, tf2, -1.0,
scan.header.frame_id, scan, cloud_out, tf3, -1.0,
laser_geometry::channel_option::None);
EXPECT_EQ(cloud_out.fields.size(), 3u);
projector.transformLaserScanToPointCloud(
scan.header.frame_id, scan, cloud_out, tf2, -1.0,
scan.header.frame_id, scan, cloud_out, tf3, -1.0,
laser_geometry::channel_option::Index);
EXPECT_EQ(cloud_out.fields.size(), 4u);
projector.transformLaserScanToPointCloud(
scan.header.frame_id, scan, cloud_out, tf2, -1.0,
scan.header.frame_id, scan, cloud_out, tf3, -1.0,
laser_geometry::channel_option::Intensity);
EXPECT_EQ(cloud_out.fields.size(), 4u);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf3);
EXPECT_EQ(cloud_out.fields.size(), 5u);
projector.transformLaserScanToPointCloud(
scan.header.frame_id, scan, cloud_out, tf2, -1.0,
scan.header.frame_id, scan, cloud_out, tf3, -1.0,
laser_geometry::channel_option::Intensity |
laser_geometry::channel_option::Index);
EXPECT_EQ(cloud_out.fields.size(), 5u);
projector.transformLaserScanToPointCloud(
scan.header.frame_id, scan, cloud_out, tf2, -1.0,
scan.header.frame_id, scan, cloud_out, tf3, -1.0,
laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index |
laser_geometry::channel_option::Distance);
EXPECT_EQ(cloud_out.fields.size(), 6u);
projector.transformLaserScanToPointCloud(
scan.header.frame_id, scan, cloud_out, tf2, -1.0,
scan.header.frame_id, scan, cloud_out, tf3, -1.0,
laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index |
laser_geometry::channel_option::Distance |
laser_geometry::channel_option::Timestamp);