Function TEST

test/io/test_io.cpp:60–163

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TEST (PCL, ComplexPCDFileASCII)
{
  std::ofstream fs;
  fs.open ("complex_ascii.pcd");
  fs << "# .PCD v0.7 - Point Cloud Data file format\n"
        "VERSION 0.7\n"
        "FIELDS fpfh _ x y z\n"
        "SIZE 4 1 4 4 4\n"
        "TYPE F F F F F\n"
        "COUNT 33 10 1 1 1\n"
        "WIDTH 1\n"
        "HEIGHT 1\n"
        "VIEWPOINT 0 0 0 1 0 0 0\n"
        "POINTS 1\n"
        "DATA ascii\n"
        "0 0 0 0 0 100 0 0 0 0 0 0 0 0 0 0 100 0 0 0 0 0 0 0 0 0 0 100 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 -69.234001 -65.460999 19.173";
  fs.close ();

  pcl::PCLPointCloud2 blob;
  int res = loadPCDFile ("complex_ascii.pcd", blob);
  EXPECT_NE (res, -1);
  EXPECT_EQ (blob.width, 1);
  EXPECT_EQ (blob.height, 1);
  EXPECT_TRUE (blob.is_dense);
  EXPECT_EQ (blob.data.size (), 4 * 33 + 10 * 1 + 4 * 3);

  // Check fields
  EXPECT_EQ (blob.fields[0].name, "fpfh");
  EXPECT_EQ (blob.fields[0].offset, 0);
  EXPECT_EQ (blob.fields[0].count, 33);
  EXPECT_EQ (blob.fields[0].datatype, pcl::PCLPointField::FLOAT32);

  EXPECT_EQ (blob.fields[1].name, "_");
  EXPECT_EQ (blob.fields[1].offset, 4 * 33);
  EXPECT_EQ (blob.fields[1].count, 10);
  EXPECT_EQ (blob.fields[1].datatype, (std::uint8_t) -1);
  
  EXPECT_EQ (blob.fields[2].name, "x");
  EXPECT_EQ (blob.fields[2].offset, 4 * 33 + 10 * 1);
  EXPECT_EQ (blob.fields[2].count, 1);
  EXPECT_EQ (blob.fields[2].datatype, pcl::PCLPointField::FLOAT32);
  
  EXPECT_EQ (blob.fields[3].name, "y");
  EXPECT_EQ (blob.fields[3].offset, 4 * 33 + 10 * 1 + 4);
  EXPECT_EQ (blob.fields[3].count, 1);
  EXPECT_EQ (blob.fields[3].datatype, pcl::PCLPointField::FLOAT32);
  
  EXPECT_EQ (blob.fields[4].name, "z");
  EXPECT_EQ (blob.fields[4].offset, 4 * 33 + 10 * 1 + 4 + 4);
  EXPECT_EQ (blob.fields[4].count, 1);
  EXPECT_EQ (blob.fields[4].datatype, pcl::PCLPointField::FLOAT32);

  int x_idx = pcl::getFieldIndex (blob, "x");
  EXPECT_EQ (x_idx, 2);
  float x, y, z;
  memcpy (&x, &blob.data[0 * blob.point_step + blob.fields[x_idx + 0].offset], sizeof (float));
  memcpy (&y, &blob.data[0 * blob.point_step + blob.fields[x_idx + 1].offset], sizeof (float));
  memcpy (&z, &blob.data[0 * blob.point_step + blob.fields[x_idx + 2].offset], sizeof (float));