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More laser_geometry deprecations and code fixes.

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git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@24345 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
This commit is contained in:
Jeremy Leibs
2009-09-23 01:37:30 +00:00
parent f7b67fb1b8
commit ac4a77f57a
3 changed files with 179 additions and 65 deletions
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40
test/projection_test.cpp
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@@ -67,10 +67,22 @@ sensor_msgs::LaserScan build_constant_scan(double range, double intensity,
};
void test_getUnitVectors (float angle_min, float angle_max, float angle_increment, unsigned int length)
class TestProjection : public laser_geometry::LaserProjection
{
public:
const boost::numeric::ublas::matrix<double>& getUnitVectors(float angle_min,
float angle_max,
float angle_increment,
unsigned int length)
{
return getUnitVectors_(angle_min, angle_max, angle_increment, length);
}
};
void test_getUnitVectors(float angle_min, float angle_max, float angle_increment, unsigned int length)
{
double tolerance = 1e-6;
laser_geometry::LaserProjection projector;
TestProjection projector;
const boost::numeric::ublas::matrix<double> & mat = projector.getUnitVectors(angle_min, angle_max, angle_increment, length);
@@ -211,20 +223,20 @@ TEST(laser_geometry, projectLaser)
sensor_msgs::LaserScan scan = build_constant_scan(range, intensity, min_angle, max_angle, angle_increment, scan_time);
sensor_msgs::PointCloud cloud_out;
projector.projectLaser(scan, cloud_out, -1.0, false, laser_geometry::MASK_INDEX);
projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Index);
EXPECT_EQ(cloud_out.channels.size(), (unsigned int)1);
projector.projectLaser(scan, cloud_out, -1.0, false, laser_geometry::MASK_INTENSITY);
projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Intensity);
EXPECT_EQ(cloud_out.channels.size(), (unsigned int)1);
projector.projectLaser(scan, cloud_out, -1.0, false);
projector.projectLaser(scan, cloud_out, -1.0);
EXPECT_EQ(cloud_out.channels.size(), (unsigned int)2);
projector.projectLaser(scan, cloud_out, -1.0, false, laser_geometry::MASK_INTENSITY | laser_geometry::MASK_INDEX);
projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index);
EXPECT_EQ(cloud_out.channels.size(), (unsigned int)2);
projector.projectLaser(scan, cloud_out, -1.0, false, laser_geometry::MASK_INTENSITY | laser_geometry::MASK_INDEX | laser_geometry::MASK_DISTANCE);
projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index | laser_geometry::channel_option::Distance);
EXPECT_EQ(cloud_out.channels.size(), (unsigned int)3);
projector.projectLaser(scan, cloud_out, -1.0, false, laser_geometry::MASK_INTENSITY | laser_geometry::MASK_INDEX | laser_geometry::MASK_DISTANCE | laser_geometry::MASK_TIMESTAMP);
projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index | laser_geometry::channel_option::Distance | laser_geometry::channel_option::Timestamp);
EXPECT_EQ(cloud_out.channels.size(), (unsigned int)4);
unsigned int valid_points = 0;
@@ -326,20 +338,20 @@ TEST(laser_geometry, transformLaserScanToPointCloud)
scan.header.frame_id = "laser_frame";
sensor_msgs::PointCloud cloud_out;
projector.transformLaserScanToPointCloud(scan.header.frame_id, cloud_out, scan, tf, laser_geometry::MASK_INDEX);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf, laser_geometry::channel_option::Index);
EXPECT_EQ(cloud_out.channels.size(), (unsigned int)1);
projector.transformLaserScanToPointCloud(scan.header.frame_id, cloud_out, scan, tf, laser_geometry::MASK_INTENSITY);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf, laser_geometry::channel_option::Intensity);
EXPECT_EQ(cloud_out.channels.size(), (unsigned int)1);
projector.transformLaserScanToPointCloud(scan.header.frame_id, cloud_out, scan, tf);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf);
EXPECT_EQ(cloud_out.channels.size(), (unsigned int)2);
projector.transformLaserScanToPointCloud(scan.header.frame_id, cloud_out, scan, tf, laser_geometry::MASK_INTENSITY | laser_geometry::MASK_INDEX);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index);
EXPECT_EQ(cloud_out.channels.size(), (unsigned int)2);
projector.transformLaserScanToPointCloud(scan.header.frame_id, cloud_out, scan, tf, laser_geometry::MASK_INTENSITY | laser_geometry::MASK_INDEX | laser_geometry::MASK_DISTANCE);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index | laser_geometry::channel_option::Distance);
EXPECT_EQ(cloud_out.channels.size(), (unsigned int)3);
projector.transformLaserScanToPointCloud(scan.header.frame_id, cloud_out, scan, tf, laser_geometry::MASK_INTENSITY | laser_geometry::MASK_INDEX | laser_geometry::MASK_DISTANCE | laser_geometry::MASK_TIMESTAMP);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index | laser_geometry::channel_option::Distance | laser_geometry::channel_option::Timestamp);
EXPECT_EQ(cloud_out.channels.size(), (unsigned int)4);
unsigned int valid_points = 0;