text: /* +------------------------------------------------------------------------+
     |                     Mobile Robot Programming Toolkit (MRPT)            |
     |                          http://www.mrpt.org/                          |
     |                                                                        |
     | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
     | See: http://www.mrpt.org/Authors - All rights reserved.                |
     | Released under BSD License. See details in http://www.mrpt.org/License |
     +------------------------------------------------------------------------+ */
  
  #include <mrpt/maps/CPointsMapXYZI.h>
  #include <mrpt/system/filesystem.h>
  #include <gtest/gtest.h>
  #include <iostream>
  #include <test_mrpt_common.h>
  
  TEST(CPointsMapXYZI, loadFromKittiVelodyneFile)
  {
  	using namespace std;
  	const string kitti_fil =
  		mrpt::UNITTEST_BASEDIR + string("/tests/kitti_00_000000.bin.gz");
  	if (!mrpt::system::fileExists(kitti_fil))
  	{
  		cerr << "WARNING: Skipping test due to missing file: " << kitti_fil
  			 << "\n";
  		return;
  	}
  
  	mrpt::maps::CPointsMapXYZI m;
  	const bool read_ok = m.loadFromKittiVelodyneFile(kitti_fil);
  	EXPECT_TRUE(read_ok);
  	EXPECT_EQ(124668U, m.size());
  }
  