i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 17:17:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixing PCL Indices error on old pcl

Browse Source
This commit is contained in:
matlabbe
2025-12-21 20:30:21 -08:00
parent 6ae73a69d2
commit c815c12fc7
1 changed files with 6 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/test/test_util3d_transforms.cpp
+6 -6
View File
@@ -95,7 +95,7 @@ TEST(Util3DTransforms, transformPointCloudXYZ)
// test indices // test indices
pcl::PointXYZ pt2(4.0f, 5.0f, 6.0f); pcl::PointXYZ pt2(4.0f, 5.0f, 6.0f);
cloud->push_back(pt2); cloud->push_back(pt2);
pcl::IndicesPtr indices(new pcl::Indices(1,1)); // will transform only second point pcl::IndicesPtr indices(new std::vector<int>(1,1)); // will transform only second point
result = util3d::transformPointCloud(cloud, indices, tf); result = util3d::transformPointCloud(cloud, indices, tf);
ASSERT_EQ(result->size(), 1); ASSERT_EQ(result->size(), 1);
EXPECT_FLOAT_EQ(result->at(0).x, 5.0f); EXPECT_FLOAT_EQ(result->at(0).x, 5.0f);
@@ -122,7 +122,7 @@ TEST(Util3DTransforms, transformPointCloudXYZI)
// test indices // test indices
pt.intensity = 52.0f; pt.intensity = 52.0f;
cloud->push_back(pt); cloud->push_back(pt);
pcl::IndicesPtr indices(new pcl::Indices(1,1)); // will transform only second point pcl::IndicesPtr indices(new std::vector<int>(1,1)); // will transform only second point
result = util3d::transformPointCloud(cloud, indices, tf); result = util3d::transformPointCloud(cloud, indices, tf);
ASSERT_EQ(result->size(), 1); ASSERT_EQ(result->size(), 1);
EXPECT_FLOAT_EQ(result->at(0).intensity, 52.0f); EXPECT_FLOAT_EQ(result->at(0).intensity, 52.0f);
@@ -149,7 +149,7 @@ TEST(Util3DTransforms, transformPointCloudXYZRGB)
// test indices // test indices
pt.r = 250; pt.g = 105; pt.b = 55; pt.r = 250; pt.g = 105; pt.b = 55;
cloud->push_back(pt); cloud->push_back(pt);
pcl::IndicesPtr indices(new pcl::Indices(1,1)); // will transform only second point pcl::IndicesPtr indices(new std::vector<int>(1,1)); // will transform only second point
result = util3d::transformPointCloud(cloud, indices, tf); result = util3d::transformPointCloud(cloud, indices, tf);
ASSERT_EQ(result->size(), 1); ASSERT_EQ(result->size(), 1);
EXPECT_EQ(result->at(0).r, 250); EXPECT_EQ(result->at(0).r, 250);
@@ -180,7 +180,7 @@ TEST(Util3DTransforms, transformPointCloudPointNormal)
pt.x = 0; pt.y = 1; pt.z = 0; pt.x = 0; pt.y = 1; pt.z = 0;
pt.normal_x = 1; pt.normal_y = 0; pt.normal_z = 0; pt.normal_x = 1; pt.normal_y = 0; pt.normal_z = 0;
cloud->push_back(pt); cloud->push_back(pt);
pcl::IndicesPtr indices(new pcl::Indices(1,1)); // will transform only second point pcl::IndicesPtr indices(new std::vector<int>(1,1)); // will transform only second point
result = util3d::transformPointCloud(cloud, indices, tf); result = util3d::transformPointCloud(cloud, indices, tf);
ASSERT_EQ(result->size(), 1); ASSERT_EQ(result->size(), 1);
EXPECT_NEAR(result->at(0).x, -1.0f, 1e-6); EXPECT_NEAR(result->at(0).x, -1.0f, 1e-6);
@@ -210,7 +210,7 @@ TEST(Util3DTransforms, transformPointCloudXYZINormal)
// test indices // test indices
pt.intensity = 52.0f; pt.intensity = 52.0f;
cloud->push_back(pt); cloud->push_back(pt);
pcl::IndicesPtr indices(new pcl::Indices(1,1)); // will transform only second point pcl::IndicesPtr indices(new std::vector<int>(1,1)); // will transform only second point
result = util3d::transformPointCloud(cloud, indices, tf); result = util3d::transformPointCloud(cloud, indices, tf);
ASSERT_EQ(result->size(), 1); ASSERT_EQ(result->size(), 1);
EXPECT_FLOAT_EQ(result->at(0).intensity, 52.0f); EXPECT_FLOAT_EQ(result->at(0).intensity, 52.0f);
@@ -240,7 +240,7 @@ TEST(Util3DTransforms, transformPointCloudXYZRGBNormal)
// test indices // test indices
pt.r = 250; pt.g = 105; pt.b = 55; pt.r = 250; pt.g = 105; pt.b = 55;
cloud->push_back(pt); cloud->push_back(pt);
pcl::IndicesPtr indices(new pcl::Indices(1,1)); // will transform only second point pcl::IndicesPtr indices(new std::vector<int>(1,1)); // will transform only second point
result = util3d::transformPointCloud(cloud, indices, tf); result = util3d::transformPointCloud(cloud, indices, tf);
ASSERT_EQ(result->size(), 1); ASSERT_EQ(result->size(), 1);
EXPECT_EQ(result->at(0).r, 250); EXPECT_EQ(result->at(0).r, 250);