Port image_encodings tests from ROS1.

Signed-off-by: Michael Carroll <[email protected]>

Author: mjcarroll

sensor_msgs/CMakeLists.txt

@@ -65,11 +65,12 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 
   include_directories(include)
-  ament_add_gtest(test_pointcloud
+  ament_add_gtest(test_sensor_msgs
+    test/test_image_encodings.cpp
     test/test_pointcloud_conversion.cpp
     test/test_pointcloud_iterator.cpp)
-  if(TARGET test_pointcloud)
-    rosidl_target_interfaces(test_pointcloud ${PROJECT_NAME} "rosidl_typesupport_cpp")
+  if(TARGET test_sensor_msgs)
+    rosidl_target_interfaces(test_sensor_msgs ${PROJECT_NAME} "rosidl_typesupport_cpp")
   endif()
 endif()
 

sensor_msgs/test/test_image_encodings.cpp

@@ -0,0 +1,73 @@
+// Copyright (c) 2016, Kentaro Wada
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of the copyright holder nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+// this file is originally ported from ROS1:
+// https://github.com/ros/common_msgs/blob/53579e6bba3d7f692949227fc4fe06cf47689f3a/sensor_msgs/test/test_image_encodings.cpp
+
+#include <gtest/gtest.h>
+#include "sensor_msgs/image_encodings.hpp"
+
+TEST(sensor_msgs, NumChannels)
+{
+  ASSERT_EQ(sensor_msgs::image_encodings::numChannels("mono8"), 1);
+  ASSERT_EQ(sensor_msgs::image_encodings::numChannels("rgb8"), 3);
+  ASSERT_EQ(sensor_msgs::image_encodings::numChannels("8UC"), 1);
+  ASSERT_EQ(sensor_msgs::image_encodings::numChannels("8UC3"), 3);
+  ASSERT_EQ(sensor_msgs::image_encodings::numChannels("8UC10"), 10);
+  ASSERT_EQ(sensor_msgs::image_encodings::numChannels("16UC"), 1);
+  ASSERT_EQ(sensor_msgs::image_encodings::numChannels("16UC3"), 3);
+  ASSERT_EQ(sensor_msgs::image_encodings::numChannels("16UC10"), 10);
+  ASSERT_EQ(sensor_msgs::image_encodings::numChannels("32SC"), 1);
+  ASSERT_EQ(sensor_msgs::image_encodings::numChannels("32SC3"), 3);
+  ASSERT_EQ(sensor_msgs::image_encodings::numChannels("32SC10"), 10);
+  ASSERT_EQ(sensor_msgs::image_encodings::numChannels("64FC"), 1);
+  ASSERT_EQ(sensor_msgs::image_encodings::numChannels("64FC3"), 3);
+  ASSERT_EQ(sensor_msgs::image_encodings::numChannels("64FC10"), 10);
+}
+
+TEST(sensor_msgs, bitDepth)
+{
+  ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("mono8"), 8);
+  ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("rgb8"), 8);
+  ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("8UC"), 8);
+  ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("8UC3"), 8);
+  ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("8UC10"), 8);
+  ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("16UC"), 16);
+  ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("16UC3"), 16);
+  ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("16UC10"), 16);
+  ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("32SC"), 32);
+  ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("32SC3"), 32);
+  ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("32SC10"), 32);
+  ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("64FC"), 64);
+  ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("64FC3"), 64);
+  ASSERT_EQ(sensor_msgs::image_encodings::bitDepth("64FC10"), 64);
+}