From 5c528c493b426399e300d40f6e2148e9c01b67a6 Mon Sep 17 00:00:00 2001
From: vsainz <vsainz@iri.upc.edu>
Date: Thu, 11 Aug 2022 12:54:55 +0200
Subject: [PATCH] relocated function loadData()
---
include/laser/utils/laser3d_tools.h | 8 ++++++++
test/gtest_laser3d_tools.cpp | 7 -------
test/gtest_processor_odom_icp_3d.cpp | 7 -------
3 files changed, 8 insertions(+), 14 deletions(-)
diff --git a/include/laser/utils/laser3d_tools.h b/include/laser/utils/laser3d_tools.h
index bb8d56fd1..b96b709c2 100644
--- a/include/laser/utils/laser3d_tools.h
+++ b/include/laser/utils/laser3d_tools.h
@@ -40,6 +40,14 @@ typedef pcl::Registration<pcl::PointXYZ, pcl::PointXYZ>::Ptr RegistrationPtr;
namespace wolf
{
+void loadData(std::string fname, pcl::PointCloud<pcl::PointXYZ>& cloud)
+{
+ pcl::io::loadPCDFile(fname, cloud);
+ // remove NAN points from the cloud
+ pcl::Indices indices;
+ pcl::removeNaNFromPointCloud(cloud, cloud, indices);
+};
+
// _cloud_ref: first PointCloud
// _cloud_other: second PointCloud
inline void pairAlign(const pcl::PointCloud<pcl::PointXYZ>::Ptr _cloud_ref,
diff --git a/test/gtest_laser3d_tools.cpp b/test/gtest_laser3d_tools.cpp
index 19fd82e5f..416fb0a20 100644
--- a/test/gtest_laser3d_tools.cpp
+++ b/test/gtest_laser3d_tools.cpp
@@ -51,13 +51,6 @@ using namespace Eigen;
std::string laser_root_dir = _WOLF_LASER_ROOT_DIR;
-void loadData(std::string fname, pcl::PointCloud<pcl::PointXYZ>& cloud)
-{
- pcl::io::loadPCDFile(fname, cloud);
- // remove NAN points from the cloud
- pcl::Indices indices;
- pcl::removeNaNFromPointCloud(cloud, cloud, indices);
-};
TEST(pairAlign, identity)
{
diff --git a/test/gtest_processor_odom_icp_3d.cpp b/test/gtest_processor_odom_icp_3d.cpp
index a372ecb11..a33b3c2e0 100644
--- a/test/gtest_processor_odom_icp_3d.cpp
+++ b/test/gtest_processor_odom_icp_3d.cpp
@@ -48,13 +48,6 @@ using namespace wolf;
std::string laser_root_dir = _WOLF_LASER_ROOT_DIR;
-void loadData(std::string fname, pcl::PointCloud<pcl::PointXYZ>& cloud)
-{
- pcl::io::loadPCDFile(fname, cloud);
- // remove NAN points from the cloud
- pcl::Indices indices;
- pcl::removeNaNFromPointCloud(cloud, cloud, indices);
-};
class Test_ProcessorOdomIcp3D_yaml : public testing::Test
{
--
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