Uncrustify
This commit is contained in:
Martin Idel
parent
b88330b64c
commit
433181e63e
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@ -100,8 +100,8 @@ namespace laser_geometry
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{
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public:
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LaserProjection() : angle_min_(0), angle_max_(0) {}
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LaserProjection()
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: angle_min_(0), angle_max_(0) {}
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//! Project a sensor_msgs::msg::LaserScan into a sensor_msgs::msg::PointCloud2
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/*!
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@ -119,7 +119,8 @@ namespace laser_geometry
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* channel_option::Intensity, channel_option::Index,
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* channel_option::Distance, channel_option::Timestamp.
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*/
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void projectLaser (const sensor_msgs::msg::LaserScan& scan_in,
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void projectLaser(
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const sensor_msgs::msg::LaserScan & scan_in,
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sensor_msgs::msg::PointCloud2 & cloud_out,
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double range_cutoff = -1.0,
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int channel_options = channel_option::Default)
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@ -149,26 +150,29 @@ namespace laser_geometry
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* channel_option::Intensity, channel_option::Index,
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* channel_option::Distance, channel_option::Timestamp.
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*/
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void transformLaserScanToPointCloud(const std::string &target_frame,
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void transformLaserScanToPointCloud(
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const std::string & target_frame,
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const sensor_msgs::msg::LaserScan & scan_in,
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sensor_msgs::msg::PointCloud2 & cloud_out,
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tf2::BufferCore & tf,
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double range_cutoff = -1.0,
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int channel_options = channel_option::Default)
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{
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transformLaserScanToPointCloud_(target_frame, scan_in, cloud_out, tf, range_cutoff, channel_options);
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transformLaserScanToPointCloud_(target_frame, scan_in, cloud_out, tf, range_cutoff,
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channel_options);
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}
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private:
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//! Internal hidden representation of projectLaser
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void projectLaser_ (const sensor_msgs::msg::LaserScan& scan_in,
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void projectLaser_(
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const sensor_msgs::msg::LaserScan & scan_in,
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sensor_msgs::msg::PointCloud2 & cloud_out,
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double range_cutoff,
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int channel_options);
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//! Internal hidden representation of transformLaserScanToPointCloud2
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void transformLaserScanToPointCloud_ (const std::string &target_frame,
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void transformLaserScanToPointCloud_(
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const std::string & target_frame,
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const sensor_msgs::msg::LaserScan & scan_in,
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sensor_msgs::msg::PointCloud2 & cloud_out,
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tf2::BufferCore & tf,
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@ -176,7 +180,8 @@ namespace laser_geometry
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int channel_options);
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//! Function used by the several forms of transformLaserScanToPointCloud_
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void transformLaserScanToPointCloud_ (const std::string &target_frame,
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void transformLaserScanToPointCloud_(
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const std::string & target_frame,
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const sensor_msgs::msg::LaserScan & scan_in,
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sensor_msgs::msg::PointCloud2 & cloud_out,
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tf2::Quaternion quat_start,
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@ -42,7 +42,8 @@ typedef double tfScalar;
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namespace laser_geometry
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{
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void LaserProjection::projectLaser_ (const sensor_msgs::msg::LaserScan& scan_in,
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void LaserProjection::projectLaser_(
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const sensor_msgs::msg::LaserScan & scan_in,
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sensor_msgs::msg::PointCloud2 & cloud_out,
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double range_cutoff,
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int channel_options)
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@ -52,22 +53,21 @@ namespace laser_geometry
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Eigen::ArrayXXd output(n_pts, 2);
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// Get the ranges into Eigen format
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for (size_t i = 0; i < n_pts; ++i)
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{
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for (size_t i = 0; i < n_pts; ++i) {
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ranges(i, 0) = (double) scan_in.ranges[i];
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ranges(i, 1) = (double) scan_in.ranges[i];
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}
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// Check if our existing co_sine_map is valid
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if (co_sine_map_.rows () != (int)n_pts || angle_min_ != scan_in.angle_min || angle_max_ != scan_in.angle_max )
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if (co_sine_map_.rows() != (int)n_pts || angle_min_ != scan_in.angle_min ||
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angle_max_ != scan_in.angle_max)
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{
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ROS_DEBUG("[projectLaser] No precomputed map given. Computing one.");
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co_sine_map_ = Eigen::ArrayXXd(n_pts, 2);
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angle_min_ = scan_in.angle_min;
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angle_max_ = scan_in.angle_max;
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// Spherical->Cartesian projection
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for (size_t i = 0; i < n_pts; ++i)
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{
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for (size_t i = 0; i < n_pts; ++i) {
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co_sine_map_(i, 0) = cos(scan_in.angle_min + (double) i * scan_in.angle_increment);
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co_sine_map_(i, 1) = sin(scan_in.angle_min + (double) i * scan_in.angle_increment);
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}
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@ -94,12 +94,12 @@ namespace laser_geometry
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cloud_out.fields[2].count = 1;
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// Define 4 indices in the channel array for each possible value type
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int idx_intensity = -1, idx_index = -1, idx_distance = -1, idx_timestamp = -1, idx_vpx = -1, idx_vpy = -1, idx_vpz = -1;
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int idx_intensity = -1, idx_index = -1, idx_distance = -1, idx_timestamp = -1, idx_vpx = -1,
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idx_vpy = -1, idx_vpz = -1;
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//now, we need to check what fields we need to store
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int offset = 12;
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if ((channel_options & channel_option::Intensity) && scan_in.intensities.size() > 0)
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{
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if ((channel_options & channel_option::Intensity) && scan_in.intensities.size() > 0) {
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int field_size = cloud_out.fields.size();
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cloud_out.fields.resize(field_size + 1);
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cloud_out.fields[field_size].name = "intensity";
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@ -110,8 +110,7 @@ namespace laser_geometry
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idx_intensity = field_size;
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}
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if ((channel_options & channel_option::Index))
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{
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if ((channel_options & channel_option::Index)) {
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int field_size = cloud_out.fields.size();
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cloud_out.fields.resize(field_size + 1);
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cloud_out.fields[field_size].name = "index";
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@ -122,8 +121,7 @@ namespace laser_geometry
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idx_index = field_size;
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}
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if ((channel_options & channel_option::Distance))
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{
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if ((channel_options & channel_option::Distance)) {
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int field_size = cloud_out.fields.size();
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cloud_out.fields.resize(field_size + 1);
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cloud_out.fields[field_size].name = "distances";
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@ -134,8 +132,7 @@ namespace laser_geometry
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idx_distance = field_size;
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}
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if ((channel_options & channel_option::Timestamp))
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{
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if ((channel_options & channel_option::Timestamp)) {
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int field_size = cloud_out.fields.size();
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cloud_out.fields.resize(field_size + 1);
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cloud_out.fields[field_size].name = "stamps";
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@ -146,8 +143,7 @@ namespace laser_geometry
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idx_timestamp = field_size;
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}
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if ((channel_options & channel_option::Viewpoint))
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{
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if ((channel_options & channel_option::Viewpoint)) {
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int field_size = cloud_out.fields.size();
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cloud_out.fields.resize(field_size + 3);
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@ -179,16 +175,15 @@ namespace laser_geometry
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cloud_out.data.resize(cloud_out.row_step * cloud_out.height);
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cloud_out.is_dense = false;
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if (range_cutoff < 0)
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if (range_cutoff < 0) {
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range_cutoff = scan_in.range_max;
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}
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unsigned int count = 0;
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for (size_t i = 0; i < n_pts; ++i)
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{
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for (size_t i = 0; i < n_pts; ++i) {
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//check to see if we want to keep the point
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const float range = scan_in.ranges[i];
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if (range < range_cutoff && range >= scan_in.range_min)
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{
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if (range < range_cutoff && range >= scan_in.range_min) {
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float * pstep = (float *)&cloud_out.data[count * cloud_out.point_step];
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// Copy XYZ
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@ -197,24 +192,27 @@ namespace laser_geometry
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pstep[2] = 0;
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// Copy intensity
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if(idx_intensity != -1)
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if (idx_intensity != -1) {
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pstep[idx_intensity] = scan_in.intensities[i];
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}
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//Copy index
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if(idx_index != -1)
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if (idx_index != -1) {
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((int *)(pstep))[idx_index] = i;
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}
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// Copy distance
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if(idx_distance != -1)
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if (idx_distance != -1) {
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pstep[idx_distance] = range;
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}
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// Copy timestamp
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if(idx_timestamp != -1)
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if (idx_timestamp != -1) {
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pstep[idx_timestamp] = i * scan_in.time_increment;
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}
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// Copy viewpoint (0, 0, 0)
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if(idx_vpx != -1 && idx_vpy != -1 && idx_vpz != -1)
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{
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if (idx_vpx != -1 && idx_vpy != -1 && idx_vpz != -1) {
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pstep[idx_vpx] = 0;
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pstep[idx_vpy] = 0;
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pstep[idx_vpz] = 0;
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@ -262,7 +260,8 @@ namespace laser_geometry
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cloud_out.data.resize(cloud_out.row_step * cloud_out.height);
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}
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void LaserProjection::transformLaserScanToPointCloud_(const std::string &target_frame,
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void LaserProjection::transformLaserScanToPointCloud_(
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const std::string & target_frame,
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const sensor_msgs::msg::LaserScan & scan_in,
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sensor_msgs::msg::PointCloud2 & cloud_out,
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tf2::Quaternion quat_start,
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@ -274,8 +273,9 @@ namespace laser_geometry
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{
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//check if the user has requested the index field
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bool requested_index = false;
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if ((channel_options & channel_option::Index))
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if ((channel_options & channel_option::Index)) {
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requested_index = true;
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}
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//we'll enforce that we get index values for the laser scan so that we
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//ensure that we use the correct timestamps
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@ -293,18 +293,15 @@ namespace laser_geometry
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//putting in a check at some point, but I'm just going to put in an
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//assert for now
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uint32_t index_offset = 0;
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for(unsigned int i = 0; i < cloud_out.fields.size(); ++i)
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{
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if(cloud_out.fields[i].name == "index")
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{
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for (unsigned int i = 0; i < cloud_out.fields.size(); ++i) {
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if (cloud_out.fields[i].name == "index") {
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index_offset = cloud_out.fields[i].offset;
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}
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//we want to check if the cloud has a viewpoint associated with it
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//checking vp_x should be sufficient since vp_x, vp_y, and vp_z all
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//get put in together
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if(cloud_out.fields[i].name == "vp_x")
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{
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if (cloud_out.fields[i].name == "vp_x") {
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has_viewpoint = true;
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vp_x_offset = cloud_out.fields[i].offset;
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}
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@ -319,8 +316,7 @@ namespace laser_geometry
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double ranges_norm = 1 / ((double) scan_in.ranges.size() - 1.0);
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//we want to loop through all the points in the cloud
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for(size_t i = 0; i < cloud_out.width; ++i)
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{
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for (size_t i = 0; i < cloud_out.width; ++i) {
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// Apply the transform to the current point
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float * pstep = (float *)&cloud_out.data[i * cloud_out.point_step + 0];
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@ -349,8 +345,7 @@ namespace laser_geometry
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pstep[2] = point_out.z();
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// Convert the viewpoint as well
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if(has_viewpoint)
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{
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if (has_viewpoint) {
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float * vpstep = (float *)&cloud_out.data[i * cloud_out.point_step + vp_x_offset];
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point_in = tf2::Vector3(vpstep[0], vpstep[1], vpstep[2]);
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point_out = cur_transform * point_in;
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@ -363,8 +358,7 @@ namespace laser_geometry
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}
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//if the user didn't request the index field, then we need to copy the PointCloud and drop it
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if(!requested_index)
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{
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if (!requested_index) {
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sensor_msgs::msg::PointCloud2 cloud_without_index;
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//copy basic meta data
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@ -378,16 +372,12 @@ namespace laser_geometry
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cloud_without_index.fields.resize(cloud_out.fields.size());
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unsigned int field_count = 0;
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unsigned int offset_shift = 0;
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for(unsigned int i = 0; i < cloud_out.fields.size(); ++i)
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{
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if(cloud_out.fields[i].name != "index")
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{
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for (unsigned int i = 0; i < cloud_out.fields.size(); ++i) {
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if (cloud_out.fields[i].name != "index") {
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cloud_without_index.fields[field_count] = cloud_out.fields[i];
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cloud_without_index.fields[field_count].offset -= offset_shift;
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++field_count;
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}
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else
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{
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} else {
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//once we hit the index, we'll set the shift
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offset_shift = 4;
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}
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@ -404,9 +394,9 @@ namespace laser_geometry
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uint32_t i = 0;
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uint32_t j = 0;
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//copy over the data from one cloud to the other
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while (i < cloud_out.data.size())
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{
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if((i % cloud_out.point_step) < index_offset || (i % cloud_out.point_step) >= (index_offset + 4))
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while (i < cloud_out.data.size()) {
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if ((i % cloud_out.point_step) < index_offset ||
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(i % cloud_out.point_step) >= (index_offset + 4))
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{
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cloud_without_index.data[j++] = cloud_out.data[i];
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}
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@ -418,7 +408,8 @@ namespace laser_geometry
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}
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}
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void LaserProjection::transformLaserScanToPointCloud_ (const std::string &target_frame,
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void LaserProjection::transformLaserScanToPointCloud_(
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const std::string & target_frame,
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const sensor_msgs::msg::LaserScan & scan_in,
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sensor_msgs::msg::PointCloud2 & cloud_out,
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tf2::BufferCore & tf,
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@ -428,17 +419,20 @@ namespace laser_geometry
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TIME start_time = scan_in.header.stamp;
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TIME end_time = scan_in.header.stamp;
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// TODO: reconcile all the different time constructs
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if (!scan_in.ranges.empty())
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{
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if (!scan_in.ranges.empty()) {
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end_time = end_time + rclcpp::Duration((scan_in.ranges.size() - 1) * scan_in.time_increment, 0);
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}
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std::chrono::milliseconds start(start_time.nanoseconds());
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std::chrono::time_point<std::chrono::system_clock> st(start);
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geometry_msgs::msg::TransformStamped start_transform = tf.lookupTransform(target_frame, scan_in.header.frame_id, st);
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geometry_msgs::msg::TransformStamped start_transform = tf.lookupTransform(target_frame,
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scan_in.header.frame_id,
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st);
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std::chrono::milliseconds end(end_time.nanoseconds());
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std::chrono::time_point<std::chrono::system_clock> e(end);
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geometry_msgs::msg::TransformStamped end_transform = tf.lookupTransform(target_frame, scan_in.header.frame_id, e);
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geometry_msgs::msg::TransformStamped end_transform = tf.lookupTransform(target_frame,
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scan_in.header.frame_id,
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e);
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tf2::Quaternion quat_start(start_transform.transform.rotation.x,
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start_transform.transform.rotation.y,
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@ -40,9 +40,12 @@
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#define PROJECTION_TEST_RANGE_MAX (40.0)
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class BuildScanException { };
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class BuildScanException
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{
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};
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struct ScanOptions {
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struct ScanOptions
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{
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double range_;
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double intensity_;
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double ang_min_;
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@ -50,10 +53,11 @@ struct ScanOptions {
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double ang_increment_;
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rclcpp::Duration scan_time_;
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ScanOptions(double range, double intensity,
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ScanOptions(
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double range, double intensity,
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double ang_min, double ang_max, double ang_increment,
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rclcpp::Duration scan_time) :
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range_(range),
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rclcpp::Duration scan_time)
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: range_(range),
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intensity_(intensity),
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ang_min_(ang_min),
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ang_max_(ang_max),
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@ -63,8 +67,9 @@ struct ScanOptions {
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sensor_msgs::msg::LaserScan build_constant_scan(const ScanOptions & options)
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{
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if (((options.ang_max_ - options.ang_min_) / options.ang_increment_) < 0)
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if (((options.ang_max_ - options.ang_min_) / options.ang_increment_) < 0) {
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throw (BuildScanException());
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}
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sensor_msgs::msg::LaserScan scan;
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scan.header.stamp = rclcpp::Clock().now();
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@ -76,8 +81,7 @@ sensor_msgs::msg::LaserScan build_constant_scan(const ScanOptions & options)
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scan.range_min = PROJECTION_TEST_RANGE_MIN;
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scan.range_max = PROJECTION_TEST_RANGE_MAX;
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uint32_t i = 0;
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for(; options.ang_min_ + i * options.ang_increment_ < options.ang_max_; i++)
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{
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for (; options.ang_min_ + i * options.ang_increment_ < options.ang_max_; i++) {
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scan.ranges.push_back(options.range_);
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scan.intensities.push_back(options.intensity_);
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}
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@ -85,10 +89,9 @@ sensor_msgs::msg::LaserScan build_constant_scan(const ScanOptions & options)
|
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scan.time_increment = options.scan_time_.nanoseconds() / (double)i;
|
||||
|
||||
return scan;
|
||||
};
|
||||
}
|
||||
|
||||
TEST(laser_geometry, projectLaser2)
|
||||
{
|
||||
TEST(laser_geometry, projectLaser2) {
|
||||
double tolerance = 1e-12;
|
||||
laser_geometry::LaserProjection projector;
|
||||
|
||||
|
|
@ -146,9 +149,9 @@ TEST(laser_geometry, projectLaser2)
|
|||
}
|
||||
|
||||
for (auto option : options) {
|
||||
try
|
||||
{
|
||||
// printf("%f %f %f %f %f %f\n", range, intensity, min_angle, max_angle, angle_increment, scan_time.toSec());
|
||||
try {
|
||||
// printf("%f %f %f %f %f %f\n",
|
||||
// range, intensity, min_angle, max_angle, angle_increment, scan_time.toSec());
|
||||
sensor_msgs::msg::LaserScan scan = build_constant_scan(option);
|
||||
|
||||
sensor_msgs::msg::PointCloud2 cloud_out;
|
||||
|
|
@ -159,19 +162,31 @@ TEST(laser_geometry, projectLaser2)
|
|||
|
||||
projector.projectLaser(scan, cloud_out, -1.0);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)5);
|
||||
projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index);
|
||||
projector.projectLaser(scan, cloud_out, -1.0,
|
||||
laser_geometry::channel_option::Intensity |
|
||||
laser_geometry::channel_option::Index);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)5);
|
||||
|
||||
projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index | laser_geometry::channel_option::Distance);
|
||||
projector.projectLaser(scan, cloud_out, -1.0,
|
||||
laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index |
|
||||
laser_geometry::channel_option::Distance);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)6);
|
||||
|
||||
projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index | laser_geometry::channel_option::Distance | laser_geometry::channel_option::Timestamp);
|
||||
projector.projectLaser(scan, cloud_out, -1.0,
|
||||
laser_geometry::channel_option::Intensity |
|
||||
laser_geometry::channel_option::Index |
|
||||
laser_geometry::channel_option::Distance |
|
||||
laser_geometry::channel_option::Timestamp);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)7);
|
||||
|
||||
unsigned int valid_points = 0;
|
||||
for (unsigned int i = 0; i < scan.ranges.size(); i++)
|
||||
if (scan.ranges[i] <= PROJECTION_TEST_RANGE_MAX && scan.ranges[i] >= PROJECTION_TEST_RANGE_MIN)
|
||||
for (unsigned int i = 0; i < scan.ranges.size(); i++) {
|
||||
if (scan.ranges[i] <= PROJECTION_TEST_RANGE_MAX &&
|
||||
scan.ranges[i] >= PROJECTION_TEST_RANGE_MIN)
|
||||
{
|
||||
valid_points++;
|
||||
}
|
||||
}
|
||||
|
||||
EXPECT_EQ(valid_points, cloud_out.width);
|
||||
|
||||
|
|
@ -182,29 +197,37 @@ TEST(laser_geometry, projectLaser2)
|
|||
uint32_t index_offset = 0;
|
||||
uint32_t distance_offset = 0;
|
||||
uint32_t stamps_offset = 0;
|
||||
for (std::vector<sensor_msgs::msg::PointField>::iterator f = cloud_out.fields.begin(); f != cloud_out.fields.end(); f++) {
|
||||
if (f->name == "x") x_offset = f->offset;
|
||||
if (f->name == "y") y_offset = f->offset;
|
||||
if (f->name == "z") z_offset = f->offset;
|
||||
if (f->name == "intensity") intensity_offset = f->offset;
|
||||
if (f->name == "index") index_offset = f->offset;
|
||||
if (f->name == "distances") distance_offset = f->offset;
|
||||
if (f->name == "stamps") stamps_offset = f->offset;
|
||||
for (std::vector<sensor_msgs::msg::PointField>::iterator f = cloud_out.fields.begin();
|
||||
f != cloud_out.fields.end(); f++)
|
||||
{
|
||||
if (f->name == "x") {x_offset = f->offset;}
|
||||
if (f->name == "y") {y_offset = f->offset;}
|
||||
if (f->name == "z") {z_offset = f->offset;}
|
||||
if (f->name == "intensity") {intensity_offset = f->offset;}
|
||||
if (f->name == "index") {index_offset = f->offset;}
|
||||
if (f->name == "distances") {distance_offset = f->offset;}
|
||||
if (f->name == "stamps") {stamps_offset = f->offset;}
|
||||
}
|
||||
|
||||
for (unsigned int i = 0; i < cloud_out.width; i++) {
|
||||
|
||||
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + x_offset] , (float)((double)(scan.ranges[i]) * cos((double)(scan.angle_min) + i * (double)(scan.angle_increment))), tolerance);
|
||||
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + y_offset] , (float)((double)(scan.ranges[i]) * sin((double)(scan.angle_min) + i * (double)(scan.angle_increment))), tolerance);
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + x_offset],
|
||||
(float)((double)(scan.ranges[i]) *
|
||||
cos((double)(scan.angle_min) + i * (double)(scan.angle_increment))), tolerance);
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + y_offset],
|
||||
(float)((double)(scan.ranges[i]) *
|
||||
sin((double)(scan.angle_min) + i * (double)(scan.angle_increment))), tolerance);
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + z_offset], 0, tolerance);
|
||||
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + intensity_offset] , scan.intensities[i], tolerance);//intensity \todo determine this by lookup not hard coded order
|
||||
EXPECT_NEAR(*(uint32_t*)&cloud_out.data[i*cloud_out.point_step + index_offset], i, tolerance);//index
|
||||
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + distance_offset], scan.ranges[i], tolerance);//ranges
|
||||
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + stamps_offset], (float)i * scan.time_increment, tolerance);//timestamps
|
||||
};
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + intensity_offset],
|
||||
scan.intensities[i], tolerance); // intensity
|
||||
EXPECT_NEAR(*(uint32_t *)&cloud_out.data[i * cloud_out.point_step + index_offset], i,
|
||||
tolerance); // index
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + distance_offset],
|
||||
scan.ranges[i], tolerance); // ranges
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + stamps_offset],
|
||||
(float)i * scan.time_increment, tolerance); // timestamps
|
||||
}
|
||||
catch (BuildScanException &ex)
|
||||
{
|
||||
} catch (BuildScanException & ex) {
|
||||
// make sure it is not a false exception
|
||||
if ((option.ang_max_ - option.ang_min_) / option.ang_increment_ > 0.0) {
|
||||
FAIL();
|
||||
|
|
@ -213,8 +236,7 @@ TEST(laser_geometry, projectLaser2)
|
|||
}
|
||||
}
|
||||
|
||||
TEST(laser_geometry, transformLaserScanToPointCloud2)
|
||||
{
|
||||
TEST(laser_geometry, transformLaserScanToPointCloud2) {
|
||||
|
||||
tf2::BufferCore tf2;
|
||||
|
||||
|
|
@ -258,7 +280,6 @@ TEST(laser_geometry, transformLaserScanToPointCloud2)
|
|||
scan_times.push_back(rclcpp::Duration(1 / 40));
|
||||
scan_times.push_back(rclcpp::Duration(1 / 20));
|
||||
|
||||
|
||||
std::vector<ScanOptions> options;
|
||||
for (auto range : ranges) {
|
||||
for (auto intensity : intensities) {
|
||||
|
|
@ -276,38 +297,52 @@ TEST(laser_geometry, transformLaserScanToPointCloud2)
|
|||
}
|
||||
|
||||
for (auto option : options) {
|
||||
try
|
||||
{
|
||||
// printf("%f %f %f %f %f %f\n", range, intensity, min_angle, max_angle, angle_increment, scan_time.toSec());
|
||||
try {
|
||||
// printf("%f %f %f %f %f %f\n",
|
||||
// range, intensity, min_angle, max_angle, angle_increment, scan_time.toSec());
|
||||
sensor_msgs::msg::LaserScan scan = build_constant_scan(option);
|
||||
|
||||
scan.header.frame_id = "laser_frame";
|
||||
|
||||
sensor_msgs::msg::PointCloud2 cloud_out;
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0, laser_geometry::channel_option::None);
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
|
||||
laser_geometry::channel_option::None);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)3);
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0, laser_geometry::channel_option::Index);
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
|
||||
laser_geometry::channel_option::Index);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)4);
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0, laser_geometry::channel_option::Intensity);
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
|
||||
laser_geometry::channel_option::Intensity);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)4);
|
||||
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)5);
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index);
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
|
||||
laser_geometry::channel_option::Intensity |
|
||||
laser_geometry::channel_option::Index);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)5);
|
||||
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index | laser_geometry::channel_option::Distance);
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
|
||||
laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index |
|
||||
laser_geometry::channel_option::Distance);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)6);
|
||||
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index | laser_geometry::channel_option::Distance | laser_geometry::channel_option::Timestamp);
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
|
||||
laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index |
|
||||
laser_geometry::channel_option::Distance |
|
||||
laser_geometry::channel_option::Timestamp);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)7);
|
||||
|
||||
EXPECT_EQ(cloud_out.is_dense, false);
|
||||
|
||||
unsigned int valid_points = 0;
|
||||
for (unsigned int i = 0; i < scan.ranges.size(); i++)
|
||||
if (scan.ranges[i] <= PROJECTION_TEST_RANGE_MAX && scan.ranges[i] >= PROJECTION_TEST_RANGE_MIN)
|
||||
for (unsigned int i = 0; i < scan.ranges.size(); i++) {
|
||||
if (scan.ranges[i] <= PROJECTION_TEST_RANGE_MAX &&
|
||||
scan.ranges[i] >= PROJECTION_TEST_RANGE_MIN)
|
||||
{
|
||||
valid_points++;
|
||||
}
|
||||
}
|
||||
EXPECT_EQ(valid_points, cloud_out.width);
|
||||
|
||||
uint32_t x_offset = 0;
|
||||
|
|
@ -317,31 +352,37 @@ TEST(laser_geometry, transformLaserScanToPointCloud2)
|
|||
uint32_t index_offset = 0;
|
||||
uint32_t distance_offset = 0;
|
||||
uint32_t stamps_offset = 0;
|
||||
for (std::vector<sensor_msgs::msg::PointField>::iterator f = cloud_out.fields.begin(); f != cloud_out.fields.end(); f++)
|
||||
for (std::vector<sensor_msgs::msg::PointField>::iterator f = cloud_out.fields.begin();
|
||||
f != cloud_out.fields.end(); f++)
|
||||
{
|
||||
if (f->name == "x") x_offset = f->offset;
|
||||
if (f->name == "y") y_offset = f->offset;
|
||||
if (f->name == "z") z_offset = f->offset;
|
||||
if (f->name == "intensity") intensity_offset = f->offset;
|
||||
if (f->name == "index") index_offset = f->offset;
|
||||
if (f->name == "distances") distance_offset = f->offset;
|
||||
if (f->name == "stamps") stamps_offset = f->offset;
|
||||
if (f->name == "x") {x_offset = f->offset;}
|
||||
if (f->name == "y") {y_offset = f->offset;}
|
||||
if (f->name == "z") {z_offset = f->offset;}
|
||||
if (f->name == "intensity") {intensity_offset = f->offset;}
|
||||
if (f->name == "index") {index_offset = f->offset;}
|
||||
if (f->name == "distances") {distance_offset = f->offset;}
|
||||
if (f->name == "stamps") {stamps_offset = f->offset;}
|
||||
}
|
||||
|
||||
for (unsigned int i = 0; i < cloud_out.width; i++)
|
||||
{
|
||||
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + x_offset] , (float)((double)(scan.ranges[i]) * cos((double)(scan.angle_min) + i * (double)(scan.angle_increment))), tolerance);
|
||||
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + y_offset] , (float)((double)(scan.ranges[i]) * sin((double)(scan.angle_min) + i * (double)(scan.angle_increment))), tolerance);
|
||||
for (unsigned int i = 0; i < cloud_out.width; i++) {
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + x_offset],
|
||||
(float)((double)(scan.ranges[i]) *
|
||||
cos((double)(scan.angle_min) + i * (double)(scan.angle_increment))), tolerance);
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + y_offset],
|
||||
(float)((double)(scan.ranges[i]) *
|
||||
sin((double)(scan.angle_min) + i * (double)(scan.angle_increment))), tolerance);
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + z_offset], 0, tolerance);
|
||||
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + intensity_offset] , scan.intensities[i], tolerance);//intensity \todo determine this by lookup not hard coded order
|
||||
EXPECT_NEAR(*(uint32_t*)&cloud_out.data[i*cloud_out.point_step + index_offset], i, tolerance);//index
|
||||
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + distance_offset], scan.ranges[i], tolerance);//ranges
|
||||
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + stamps_offset], (float)i * scan.time_increment, tolerance);//timestamps
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + intensity_offset],
|
||||
scan.intensities[i], tolerance); // intensity
|
||||
EXPECT_NEAR(*(uint32_t *)&cloud_out.data[i * cloud_out.point_step + index_offset], i,
|
||||
tolerance); // index
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + distance_offset],
|
||||
scan.ranges[i], tolerance); // ranges
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + stamps_offset],
|
||||
(float)i * scan.time_increment, tolerance); // timestamps
|
||||
|
||||
};
|
||||
}
|
||||
catch (BuildScanException &ex)
|
||||
{
|
||||
} catch (BuildScanException & ex) {
|
||||
// make sure it is not a false exception
|
||||
if ((option.ang_max_ - option.ang_min_) / option.ang_increment_ > 0.0) {
|
||||
FAIL();
|
||||
|
|
@ -351,7 +392,8 @@ TEST(laser_geometry, transformLaserScanToPointCloud2)
|
|||
}
|
||||
|
||||
|
||||
int main(int argc, char **argv){
|
||||
int main(int argc, char ** argv)
|
||||
{
|
||||
testing::InitGoogleTest(&argc, argv);
|
||||
return RUN_ALL_TESTS();
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user