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fmt readme examples

This commit is contained in:
Christopher Sieh 2023-05-05 08:01:46 +02:00
parent 9ca323a5df
commit 4e8332a1d8
1 changed files with 50 additions and 22 deletions
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README.md
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@ -15,21 +15,32 @@ implementing ROS1 nodes in Rust inside a catkin environment.
To keep the crate a general purpose library for the problem and support ROS1 and ROS2, it uses its own type for the message.
```rust
use ros_pointcloud2::ConvertXYZ;
use ros_pointcloud2::fallible_iterator::FallibleIterator;
use ros_pointcloud2::pcl_utils::PointXYZ;
use ros_pointcloud2::ros_types::PointCloud2Msg;
use ros_pointcloud2::fallible_iterator::FallibleIterator;
use ros_pointcloud2::ConvertXYZ;
// Your points (here using the predefined type PointXYZ).
let cloud_points = vec![
PointXYZ { x: 1.3, y: 1.6, z: 5.7 },
PointXYZ { x: f32::MAX, y: f32::MIN, z: f32::MAX },
PointXYZ {
x: 1.3,
y: 1.6,
z: 5.7,
},
PointXYZ {
x: f32::MAX,
y: f32::MIN,
z: f32::MAX,
},
];
let cloud_copy = cloud_points.clone(); // Only for checking equality later.
// Vector -> Convert -> Message
let internal_msg: PointCloud2Msg = ConvertXYZ::try_from(cloud_points).unwrap().try_into().unwrap();
let internal_msg: PointCloud2Msg = ConvertXYZ::try_from(cloud_points)
.unwrap()
.try_into()
.unwrap();
// Convert to your favorite ROS crate message type, we will use rosrust here.
// let msg: rosrust_msg::sensor_msgs::PointCloud2 = internal_msg.into();
@ -39,13 +50,15 @@ let internal_msg: PointCloud2Msg = ConvertXYZ::try_from(cloud_points).unwrap().t
// Message -> Convert -> Vector
let convert: ConvertXYZ = ConvertXYZ::try_from(internal_msg).unwrap();
let new_cloud_points = convert.map(|point: PointXYZ| {
// Insert your point business logic here or use other methods like .for_each().
// I will just copy the points into a vector as an example.
// Also, since we are using a fallible iterator, we need to return a Result.
Ok(point)
}).collect::<Vec<PointXYZ>>()
.unwrap(); // Handle point conversion or byte errors here.
let new_cloud_points = convert
.map(|point: PointXYZ| {
// Insert your point business logic here or use other methods like .for_each().
// I will just copy the points into a vector as an example.
// Also, since we are using a fallible iterator, we need to return a Result.
Ok(point)
})
.collect::<Vec<PointXYZ>>()
.unwrap(); // Handle point conversion or byte errors here.
assert_eq!(new_cloud_points, cloud_copy);
```
@ -107,11 +120,11 @@ You can freely convert to your own point types without reiterating the entire cl
You just need to implement the `Into` and `From` traits.
```rust
use ros_pointcloud2::mem_macros::size_of;
use ros_pointcloud2::{Convert, MetaNames, PointMeta, ConversionError, PointConvertible};
use ros_pointcloud2::ros_types::PointCloud2Msg;
use ros_pointcloud2::{ConversionError, Convert, MetaNames, PointConvertible, PointMeta};
const DIM : usize = 3;
const METADIM : usize = 4;
const DIM: usize = 3;
const METADIM: usize = 4;
#[derive(Debug, PartialEq, Clone)]
struct CustomPoint {
@ -127,7 +140,15 @@ struct CustomPoint {
// Converting your custom point to the crate's internal representation
impl Into<([f32; DIM], [PointMeta; METADIM])> for CustomPoint {
fn into(self) -> ([f32; DIM], [PointMeta; METADIM]) {
([self.x, self.y, self.z], [PointMeta::new(self.r), PointMeta::new(self.g), PointMeta::new(self.b), PointMeta::new(self.a)])
(
[self.x, self.y, self.z],
[
PointMeta::new(self.r),
PointMeta::new(self.g),
PointMeta::new(self.b),
PointMeta::new(self.a),
],
)
}
}
@ -160,15 +181,22 @@ type MyConverter = Convert<f32, { size_of!(f32) }, DIM, METADIM, CustomPoint>;
// Your custom cloud (Vector)
let custom_cloud = vec![
CustomPoint { x: 0.0, y: 1.0, z: 5.0, r: 0, g: 0, b: 0, a: 0 },
CustomPoint { x: 1.0, y: 1.5, z: 5.0, r: 1, g: 1, b: 1, a: 1 },
CustomPoint { x: 1.3, y: 1.6, z: 5.7, r: 2, g: 2, b: 2, a: 2 },
CustomPoint { x: f32::MAX, y: f32::MIN, z: f32::MAX, r: u8::MAX, g: u8::MAX, b: u8::MAX, a: u8::MAX },
CustomPoint {
x: f32::MAX,
y: f32::MIN,
z: f32::MAX,
r: u8::MAX,
g: u8::MAX,
b: u8::MAX,
a: u8::MAX,
},
];
// Cloud -> ROS message
let custom_msg: PointCloud2Msg = MyConverter::try_from(custom_cloud).unwrap().try_into().unwrap();
let custom_msg: PointCloud2Msg = MyConverter::try_from(custom_cloud)
.unwrap()
.try_into()
.unwrap();
// ROS message -> Cloud
let to_custom_type = MyConverter::try_from(custom_msg).unwrap();