Function TEST

pj_scene3D/tests/pointcloud_codecs_test.cpp:125–151

}  // namespace

TEST(PointcloudCodecs, DecodeCloudiniRoundTrip) {
  const auto pts = makePoints(16);
  const auto cloud = wrap(encodeCloudini(pts), "cloudini", "lidar_link", 123456789);

  const auto result = pj::scene3d::decodeCloudini(cloud);
  ASSERT_TRUE(result.has_value()) << result.error();
  const auto& pc = result.value();

  EXPECT_EQ(pc.width, 16u);
  EXPECT_EQ(pc.height, 1u);
  EXPECT_EQ(pc.frame_id, "lidar_link");
  EXPECT_EQ(pc.timestamp_ns, 123456789);
  ASSERT_EQ(pc.fields.size(), 4u);
  ASSERT_GE(pc.data.size(), static_cast<size_t>(pc.width) * pc.point_step);

  const PointField* fx = findField(pc, "x");
  const PointField* fz = findField(pc, "z");
  const PointField* fi = findField(pc, "intensity");
  ASSERT_NE(fx, nullptr);
  ASSERT_NE(fz, nullptr);
  ASSERT_NE(fi, nullptr);
  for (int i = 0; i < 16; ++i) {
    EXPECT_FLOAT_EQ(readFloat(pc, i, *fx), static_cast<float>(i) * 0.1f);
    EXPECT_FLOAT_EQ(readFloat(pc, i, *fz), static_cast<float>(i) * 0.3f);
    EXPECT_FLOAT_EQ(readFloat(pc, i, *fi), static_cast<float>(i));
  }
}

TEST(PointcloudCodecs, DecodeDracoRoundTrip) {
  const auto pts = makePoints(16);