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Fix writing pcl::PointCloud to IFS file #6262

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Merged
merged 1 commit into from
Apr 4, 2025
Merged

Fix writing pcl::PointCloud to IFS file #6262

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2 changes: 1 addition & 1 deletion io/include/pcl/io/ifs_io.h
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Original file line number Diff line number Diff line change
Expand Up @@ -172,7 +172,7 @@ namespace pcl
const std::string &cloud_name = "cloud")
{
pcl::PCLPointCloud2 blob;
pcl::toPCLPointCloud2<PointT> (cloud, blob);
pcl::toPCLPointCloud2<PointT> (cloud, blob, false); // no padding
return (write (file_name, blob, cloud_name));
}
};
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24 changes: 24 additions & 0 deletions test/io/test_io.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1730,6 +1730,30 @@ TYPED_TEST (AutoIOTest, AutoLoadCloudFiles)
remove ("test_autoio.ifs");
}

TEST(PCL, IFS)
{
// Write a cloud to an IFS file and check if it is the same after loading
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
cloud->push_back(pcl::PointXYZ(1.0, 2.0, 3.0));
cloud->push_back(pcl::PointXYZ(4.0, 5.0, 6.0));

pcl::io::saveIFSFile("test.ifs", *cloud);

pcl::PointCloud<pcl::PointXYZ>::Ptr loaded(new pcl::PointCloud<pcl::PointXYZ>);
pcl::io::loadIFSFile("test.ifs", *loaded);

EXPECT_EQ(cloud->size(), loaded->size());
for (size_t i = 0; i < cloud->size(); ++i)
{
const auto& src = cloud->points[i];
const auto& dst = loaded->points[i];
EXPECT_EQ(src.x, dst.x);
EXPECT_EQ(src.y, dst.y);
EXPECT_EQ(src.z, dst.z);
}
remove("test.ifs");
}

/* ---[ */
int
main (int argc, char** argv)
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