35 lines
975 B
Rust
35 lines
975 B
Rust
#[cfg(feature = "r2r_msg")]
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#[test]
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fn convertxyz_r2r_msg() {
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use ros_pointcloud2::{
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pcl_utils::PointXYZ, reader::ReaderXYZ, writer::WriterXYZ, PointCloud2Msg,
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};
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use r2r::sensor_msgs::msg::PointCloud2;
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let cloud = vec![
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PointXYZ {
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x: 1.0,
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y: 2.0,
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z: 3.0,
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},
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PointXYZ {
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x: 4.0,
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y: 5.0,
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z: 6.0,
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},
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PointXYZ {
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x: 7.0,
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y: 8.0,
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z: 9.0,
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},
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];
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let copy = cloud.clone();
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let internal_cloud: PointCloud2Msg = WriterXYZ::from(cloud).try_into().unwrap();
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let r2r_msg_cloud: PointCloud2 = internal_cloud.into();
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let convert_back_internal: PointCloud2Msg = r2r_msg_cloud.into();
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let to_convert = ReaderXYZ::try_from(convert_back_internal).unwrap();
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let back_to_type = to_convert.map(|point| Ok(point)).collect::<Vec<PointXYZ>>();
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assert_eq!(copy, back_to_type.unwrap());
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}
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