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10 #include <gtest/gtest.h>
13 #include <test_mrpt_common.h>
16 TEST(CPointsMapXYZI, loadFromKittiVelodyneFile)
19 const string kitti_fil =
20 mrpt::UNITTEST_BASEDIR + string(
"/tests/kitti_00_000000.bin.gz");
23 cerr <<
"WARNING: Skipping test due to missing file: " << kitti_fil
TEST(CPointsMapXYZI, loadFromKittiVelodyneFile)
size_t size() const
Save the point cloud as a PCL PCD file, in either ASCII or binary format.
EXPECT_TRUE(mrpt::system::fileExists(ini_fil))
bool loadFromKittiVelodyneFile(const std::string &filename)
Loads from a Kitti dataset Velodyne scan binary file.
bool fileExists(const std::string &fileName)
Test if a given file (or directory) exists.
A map of 3D points with reflectance/intensity (float).
EXPECT_EQ(out.image_pair_was_used.size(), NUM_IMGS)
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