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fix padding problems and shortcut renaming

This commit is contained in:
stelzo 2024-05-20 00:37:53 +02:00
parent f19a8e8df7
commit 536d0fb9bb
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GPG Key ID: FC4EF89052319374
6 changed files with 354 additions and 347 deletions
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15
rpcl2/examples/custom_enum_field_filter.rs
View File

@ -90,29 +90,20 @@ impl From<RPCL2Point<5>> for CustomPoint {
} }
} }
// Define how we want to name the fields in the message.
impl Fields<5> for CustomPoint {
fn field_names_ordered() -> [&'static str; 5] {
["x", "y", "z", "intensity", "my_custom_label"]
}
}
// C representation of the struct hardcoded without using the derive feature. // C representation of the struct hardcoded without using the derive feature.
impl TypeLayout for CustomPoint { impl PointConvertible<5> for CustomPoint {
fn layout() -> LayoutDescription { fn layout() -> LayoutDescription {
LayoutDescription::new(&[ LayoutDescription::new(&[
LayoutField::new("x", "f32", 4), LayoutField::new("x", "f32", 4),
LayoutField::new("y", "f32", 4), LayoutField::new("y", "f32", 4),
LayoutField::new("z", "f32", 4), LayoutField::new("z", "f32", 4),
LayoutField::new("intensity", "f32", 4), LayoutField::new("intensity", "f32", 4),
LayoutField::new("my_custom_label", "u8", 1),
LayoutField::padding(3),
]) ])
} }
} }
// We implemented everything that is needed for PointConvertible so we declare it as a done.
#[cfg(not(feature = "derive"))]
impl PointConvertible<5> for CustomPoint {}
// Now we tell the library how to encode and decode the label. // Now we tell the library how to encode and decode the label.
// You don't need to do this if your CustomPoint has a field that is already supported by PointCloud2. // You don't need to do this if your CustomPoint has a field that is already supported by PointCloud2.
impl GetFieldDatatype for Label { impl GetFieldDatatype for Label {

23
rpcl2/src/iterator.rs
View File

@ -1,6 +1,6 @@
//! Iterator implementations for [`PointCloud2Msg`] including a parallel iterator for rayon. //! Iterator implementations for [`PointCloud2Msg`] including a parallel iterator for rayon.
use crate::{ use crate::{
Endian, FieldDatatype, Fields, MsgConversionError, PointCloud2Msg, PointConvertible, PointData, Endian, FieldDatatype, MsgConversionError, PointCloud2Msg, PointConvertible, PointData,
RPCL2Point, RPCL2Point,
}; };
@ -27,12 +27,12 @@ use alloc::vec::Vec;
/// ///
pub struct PointCloudIterator<const N: usize, C> pub struct PointCloudIterator<const N: usize, C>
where where
C: Fields<N>, C: PointConvertible<N>,
{ {
iteration: usize, iteration: usize,
iteration_back: usize, iteration_back: usize,
data: ByteBufferView<N>, data: ByteBufferView<N>,
phantom_c: core::marker::PhantomData<C>, // internally used for pdata names array _phantom: core::marker::PhantomData<C>,
} }
#[cfg(feature = "rayon")] #[cfg(feature = "rayon")]
@ -250,7 +250,7 @@ impl<const N: usize> ByteBufferView<N> {
impl<const N: usize, C> TryFrom<PointCloud2Msg> for PointCloudIterator<N, C> impl<const N: usize, C> TryFrom<PointCloud2Msg> for PointCloudIterator<N, C>
where where
C: Fields<N>, C: PointConvertible<N>,
{ {
type Error = MsgConversionError; type Error = MsgConversionError;
@ -262,8 +262,10 @@ where
fn try_from(cloud: PointCloud2Msg) -> Result<Self, Self::Error> { fn try_from(cloud: PointCloud2Msg) -> Result<Self, Self::Error> {
let mut pdata_with_offsets = vec![(String::default(), FieldDatatype::default(), 0); N]; let mut pdata_with_offsets = vec![(String::default(), FieldDatatype::default(), 0); N];
let not_found_fieldnames = C::field_names_ordered() let fields_only = crate::ordered_field_names::<N, C>();
.into_iter()
let not_found_fieldnames = fields_only
.iter()
.map(|name| { .map(|name| {
let found = cloud.fields.iter().any(|field| field.name == *name); let found = cloud.fields.iter().any(|field| field.name == *name);
(name, found) (name, found)
@ -279,9 +281,8 @@ where
return Err(MsgConversionError::FieldsNotFound(names_not_found)); return Err(MsgConversionError::FieldsNotFound(names_not_found));
} }
let ordered_fieldnames = C::field_names_ordered();
for (field, with_offset) in cloud.fields.iter().zip(pdata_with_offsets.iter_mut()) { for (field, with_offset) in cloud.fields.iter().zip(pdata_with_offsets.iter_mut()) {
if ordered_fieldnames.contains(&field.name.as_str()) { if fields_only.contains(&field.name) {
*with_offset = ( *with_offset = (
field.name.clone(), field.name.clone(),
field.datatype.try_into()?, field.datatype.try_into()?,
@ -342,14 +343,14 @@ where
iteration: 0, iteration: 0,
iteration_back: cloud_length - 1, iteration_back: cloud_length - 1,
data, data,
phantom_c: core::marker::PhantomData, _phantom: core::marker::PhantomData,
}) })
} }
} }
impl<const N: usize, C> PointCloudIterator<N, C> impl<const N: usize, C> PointCloudIterator<N, C>
where where
C: Fields<N>, C: PointConvertible<N>,
{ {
#[inline] #[inline]
#[must_use] #[must_use]
@ -358,7 +359,7 @@ where
iteration: 0, iteration: 0,
iteration_back: data.len() - 1, iteration_back: data.len() - 1,
data, data,
phantom_c: core::marker::PhantomData, _phantom: core::marker::PhantomData,
} }
} }

210
rpcl2/src/lib.rs
View File

@ -64,16 +64,27 @@
//! # Custom Points //! # Custom Points
//! Implement [`PointConvertible`] for your point with the `derive` feature or manually. //! Implement [`PointConvertible`] for your point with the `derive` feature or manually.
//! //!
//! ## Derive (recommended)
//! ```ignore
//! #[derive(Clone, Debug, PartialEq, Copy, Default, PointConvertible)]
//! pub struct MyPointXYZI {
//! pub x: f32,
//! pub y: f32,
//! pub z: f32,
//! #[rpcl2(rename("i"))]
//! pub intensity: f32,
//! }
//! ```
//!
//! ## Manual
//! ``` //! ```
//! use ros_pointcloud2::prelude::*; //! use ros_pointcloud2::prelude::*;
//! //!
//! #[cfg_attr(feature = "derive", derive(PointConvertible, TypeLayout))]
//! #[derive(Clone, Debug, PartialEq, Copy, Default)] //! #[derive(Clone, Debug, PartialEq, Copy, Default)]
//! pub struct MyPointXYZI { //! pub struct MyPointXYZI {
//! pub x: f32, //! pub x: f32,
//! pub y: f32, //! pub y: f32,
//! pub z: f32, //! pub z: f32,
//! #[cfg_attr(feature = "derive", rpcl2(rename("i")))]
//! pub intensity: f32, //! pub intensity: f32,
//! } //! }
//! //!
@ -83,61 +94,35 @@
//! } //! }
//! } //! }
//! //!
//! // Manual implementation of PointConvertible without derive.
//! #[cfg(not(feature = "derive"))]
//! impl Fields<4> for MyPointXYZI {
//! fn field_names_ordered() -> [&'static str; 4] {
//! ["x", "y", "z", "i"] // Note the different field name for intensity.
//! }
//! }
//!
//! #[cfg(not(feature = "derive"))]
//! impl From<RPCL2Point<4>> for MyPointXYZI { //! impl From<RPCL2Point<4>> for MyPointXYZI {
//! fn from(point: RPCL2Point<4>) -> Self { //! fn from(point: RPCL2Point<4>) -> Self {
//! Self::new(point[0].get(), point[1].get(), point[2].get(), point[3].get()) //! Self::new(point[0].get(), point[1].get(), point[2].get(), point[3].get())
//! } //! }
//! } //! }
//! //!
//! #[cfg(not(feature = "derive"))]
//! impl From<MyPointXYZI> for RPCL2Point<4> { //! impl From<MyPointXYZI> for RPCL2Point<4> {
//! fn from(point: MyPointXYZI) -> Self { //! fn from(point: MyPointXYZI) -> Self {
//! [point.x.into(), point.y.into(), point.z.into(), point.intensity.into()].into() //! [point.x.into(), point.y.into(), point.z.into(), point.intensity.into()].into()
//! } //! }
//! } //! }
//! //!
//! #[cfg(not(feature = "derive"))] //! impl PointConvertible<4> for MyPointXYZI {
//! impl TypeLayout for MyPointXYZI {
//! fn layout() -> LayoutDescription { //! fn layout() -> LayoutDescription {
//! LayoutDescription::new(&[ //! LayoutDescription::new(&[
//! LayoutField::new("x", "f32", 4), //! LayoutField::new("x", "f32", 4),
//! LayoutField::new("y", "f32", 4), //! LayoutField::new("y", "f32", 4),
//! LayoutField::new("z", "f32", 4), //! LayoutField::new("z", "f32", 4),
//! LayoutField::new("intensity", "f32", 4), // Use the original name. //! LayoutField::new("intensity", "f32", 4),
//! ]) //! ])
//! } //! }
//! } //! }
//! //!
//! #[cfg(not(feature = "derive"))]
//! impl PointConvertible<4> for MyPointXYZI {}
//!
//! let first_p = MyPointXYZI::new(1.0, 2.0, 3.0, 0.5); //! let first_p = MyPointXYZI::new(1.0, 2.0, 3.0, 0.5);
//! let cloud_points = vec![first_p, MyPointXYZI::new(4.0, 5.0, 6.0, 0.5)]; //! let cloud_points = vec![first_p, MyPointXYZI::new(4.0, 5.0, 6.0, 0.5)];
//! let msg_out = PointCloud2Msg::try_from_iter(cloud_points).unwrap(); //! let msg_out = PointCloud2Msg::try_from_iter(cloud_points).unwrap();
//! let cloud_points_out: Vec<MyPointXYZI> = msg_out.try_into_iter().unwrap().collect(); //! let cloud_points_out: Vec<MyPointXYZI> = msg_out.try_into_iter().unwrap().collect();
//! assert_eq!(first_p, *cloud_points_out.first().unwrap()); //! assert_eq!(first_p, *cloud_points_out.first().unwrap());
//! ``` //! ```
//!
//! An example without `#[cfg_attr]` looks like this:
//! ```ignore
//! #[derive(Clone, Debug, PartialEq, Copy, Default, PointConvertible, TypeLayout)]
//! pub struct MyPointXYZI {
//! pub x: f32,
//! pub y: f32,
//! pub z: f32,
//! #[rpcl2(rename("i"))]
//! pub intensity: f32,
//! }
//! ```
#![crate_type = "lib"] #![crate_type = "lib"]
#![cfg_attr(docsrs, feature(doc_cfg))] #![cfg_attr(docsrs, feature(doc_cfg))]
#![doc(html_root_url = "https://docs.rs/ros_pointcloud2/0.5.0-rc.1")] #![doc(html_root_url = "https://docs.rs/ros_pointcloud2/0.5.0-rc.1")]
@ -253,7 +238,7 @@ pub struct LayoutDescription(Vec<LayoutField>);
impl LayoutDescription { impl LayoutDescription {
pub fn new(fields: &[LayoutField]) -> Self { pub fn new(fields: &[LayoutField]) -> Self {
Self(fields.to_vec()) Self(fields.into())
} }
} }
@ -470,6 +455,29 @@ pub struct CloudDimensions {
pub height: u32, pub height: u32,
} }
fn ordered_field_names<const N: usize, C: PointConvertible<N>>() -> Vec<String> {
C::layout()
.0
.iter()
.filter(|field| match field {
LayoutField::Field {
name: _,
ty: _,
size: _,
} => true,
_ => false,
})
.map(|field| match field {
LayoutField::Field {
name,
ty: _,
size: _,
} => name.to_string(),
_ => unreachable!("Fields must be filtered before."),
})
.collect()
}
impl PointCloud2Msg { impl PointCloud2Msg {
#[inline] #[inline]
fn byte_similarity<const N: usize, C>(&self) -> Result<ByteSimilarity, MsgConversionError> fn byte_similarity<const N: usize, C>(&self) -> Result<ByteSimilarity, MsgConversionError>
@ -479,26 +487,26 @@ impl PointCloud2Msg {
let point: RPCL2Point<N> = C::default().into(); let point: RPCL2Point<N> = C::default().into();
debug_assert!(point.fields.len() == N); debug_assert!(point.fields.len() == N);
let field_names = C::field_names_ordered(); let field_names = ordered_field_names::<N, C>();
debug_assert!(field_names.len() == N); debug_assert!(field_names.len() == N);
let layout = KnownLayoutInfo::try_from(C::layout())?; let layout = KnownLayoutInfo::try_from(C::layout())?;
debug_assert!(field_names.len() == layout.fields.len()); debug_assert!(field_names.len() <= layout.fields.len());
let mut offset: u32 = 0; let mut offset: u32 = 0;
let mut field_counter = 0; let mut field_counter = 0;
for (f, msg_f) in layout.fields.iter().zip(self.fields.iter()) { for f in layout.fields.iter() {
match f { match f {
PointField::Field { PointField::Field {
datatype, datatype,
size, size,
count, count,
} => { } => {
let f_translated = String::from_str(field_names[field_counter]) let msg_f = &self.fields[field_counter];
.expect("Field name is not a valid string."); let f_translated = &field_names[field_counter];
field_counter += 1; field_counter += 1;
if msg_f.name != f_translated if msg_f.name != *f_translated
|| msg_f.offset != offset || msg_f.offset != offset
|| msg_f.datatype != *datatype || msg_f.datatype != *datatype
|| msg_f.count != 1 || msg_f.count != 1
@ -544,7 +552,7 @@ impl PointCloud2Msg {
let point: RPCL2Point<N> = C::default().into(); let point: RPCL2Point<N> = C::default().into();
debug_assert!(point.fields.len() == N); debug_assert!(point.fields.len() == N);
let field_names = C::field_names_ordered(); let field_names = crate::ordered_field_names::<N, C>();
debug_assert!(field_names.len() == N); debug_assert!(field_names.len() == N);
let mut pdata_offsets_acc: u32 = 0; let mut pdata_offsets_acc: u32 = 0;
@ -636,17 +644,15 @@ impl PointCloud2Msg {
let point: RPCL2Point<N> = C::default().into(); let point: RPCL2Point<N> = C::default().into();
debug_assert!(point.fields.len() == N); debug_assert!(point.fields.len() == N);
let field_names = C::field_names_ordered(); let field_names = crate::ordered_field_names::<N, C>();
debug_assert!(field_names.len() == N); debug_assert!(field_names.len() == N);
let layout = KnownLayoutInfo::try_from(C::layout())?; let layout = KnownLayoutInfo::try_from(C::layout())?;
debug_assert!(field_names.len() == layout.fields.len()); debug_assert!(field_names.len() <= layout.fields.len());
let mut offset = 0; let mut offset = 0;
let mut fields: Vec<PointFieldMsg> = Vec::with_capacity(layout.fields.len()); let mut fields: Vec<PointFieldMsg> = Vec::with_capacity(field_names.len());
for f in layout.fields.into_iter() { for f in layout.fields.into_iter() {
let f_translated = String::from_str(field_names[fields.len()])
.expect("Field name is not a valid string.");
match f { match f {
PointField::Field { PointField::Field {
datatype, datatype,
@ -654,7 +660,7 @@ impl PointCloud2Msg {
count, count,
} => { } => {
fields.push(PointFieldMsg { fields.push(PointFieldMsg {
name: f_translated, name: field_names[fields.len()].clone(),
offset, offset,
datatype, datatype,
..Default::default() ..Default::default()
@ -815,14 +821,6 @@ pub struct RPCL2Point<const N: usize> {
fields: [PointData; N], fields: [PointData; N],
} }
impl<const N: usize> Default for RPCL2Point<N> {
fn default() -> Self {
Self {
fields: [PointData::default(); N],
}
}
}
impl<const N: usize> core::ops::Index<usize> for RPCL2Point<N> { impl<const N: usize> core::ops::Index<usize> for RPCL2Point<N> {
type Output = PointData; type Output = PointData;
@ -840,115 +838,90 @@ impl<const N: usize> From<[PointData; N]> for RPCL2Point<N> {
/// Trait to enable point conversions on the fly. /// Trait to enable point conversions on the fly.
/// ///
/// Implement this trait for your custom point you want to read or write in the message. /// Implement this trait for your custom point you want to read or write in the message.
/// For a more convenient way to implement this trait, enable the `derive` feature and use the `#[derive(PointConvertible, TypeLayout)]` macro. /// It is strongly recommended to enable the `derive` feature and use the `#[derive(PointConvertible)]` macro.
/// This prevents common errors when implementing this trait by hand.
/// ///
/// # Derive Example /// Be aware that Rust does not guarantee the memory layout of structs. Learn more [here](https://doc.rust-lang.org/reference/type-layout.html).
/// To make layouting more predictable and thus faster for C++ node interactions, use the `#[repr(C)]` attribute on your struct.
/// An example for diverging point layouts with padding can be seen in the source code of [this](points::PointXYZRGBA::layout) implementation.
///
/// The generic parameter `N` is the number of fields in the point type. There can be more (hidden) fields that pad the layout but they do not count for the N.
/// For
///
/// # Derive
/// ```ignore
/// use ros_pointcloud2::prelude::*;
///
/// #[derive(Clone, Debug, PartialEq, Copy, Default, PointConvertible)]
/// #[repr(C, align(4))]
/// pub struct MyPointXYZL {
/// pub x: f32,
/// pub y: f32,
/// pub z: f32,
/// #[rpcl2(rename("l"))]
/// pub label: u8,
/// }
/// ```
///
/// # Manual
/// ``` /// ```
/// use ros_pointcloud2::prelude::*; /// use ros_pointcloud2::prelude::*;
/// ///
/// #[derive(Clone, Debug, PartialEq, Copy, Default)] /// #[derive(Clone, Debug, PartialEq, Copy, Default)]
/// pub struct MyPointXYZI { /// #[repr(C, align(4))]
/// pub struct MyPointXYZL {
/// pub x: f32, /// pub x: f32,
/// pub y: f32, /// pub y: f32,
/// pub z: f32, /// pub z: f32,
/// pub intensity: f32, /// pub label: u8,
/// }
/// ```
///
/// # Manual Example
/// ```
/// use ros_pointcloud2::prelude::*;
///
/// #[derive(Clone, Debug, PartialEq, Copy, Default)]
/// pub struct MyPointXYZI {
/// pub x: f32,
/// pub y: f32,
/// pub z: f32,
/// pub intensity: f32,
/// } /// }
/// ///
/// impl From<MyPointXYZI> for RPCL2Point<4> { /// impl From<MyPointXYZL> for RPCL2Point<4> {
/// fn from(point: MyPointXYZI) -> Self { /// fn from(point: MyPointXYZL) -> Self {
/// [point.x.into(), point.y.into(), point.z.into(), point.intensity.into()].into() /// [point.x.into(), point.y.into(), point.z.into(), point.label.into()].into()
/// } /// }
/// } /// }
/// ///
/// impl From<RPCL2Point<4>> for MyPointXYZI { /// impl From<RPCL2Point<4>> for MyPointXYZL {
/// fn from(point: RPCL2Point<4>) -> Self { /// fn from(point: RPCL2Point<4>) -> Self {
/// Self { /// Self {
/// x: point[0].get(), /// x: point[0].get(),
/// y: point[1].get(), /// y: point[1].get(),
/// z: point[2].get(), /// z: point[2].get(),
/// intensity: point[3].get(), /// label: point[3].get(),
/// } /// }
/// } /// }
/// } /// }
/// ///
/// impl Fields<4> for MyPointXYZI { /// impl PointConvertible<4> for MyPointXYZL {
/// fn field_names_ordered() -> [&'static str; 4] {
/// ["x", "y", "z", "intensity"]
/// }
/// }
///
/// impl TypeLayout for MyPointXYZI {
/// fn layout() -> LayoutDescription { /// fn layout() -> LayoutDescription {
/// LayoutDescription::new(&[ /// LayoutDescription::new(&[
/// LayoutField::new("x", "f32", 4), /// LayoutField::new("x", "f32", 4),
/// LayoutField::new("y", "f32", 4), /// LayoutField::new("y", "f32", 4),
/// LayoutField::new("z", "f32", 4), /// LayoutField::new("z", "f32", 4),
/// LayoutField::new("intensity", "f32", 4), /// LayoutField::new("l", "u8", 1),
/// LayoutField::padding(3),
/// ]) /// ])
/// } /// }
/// } /// }
///
/// impl PointConvertible<4> for MyPointXYZI {}
/// ``` /// ```
pub trait PointConvertible<const N: usize>: pub trait PointConvertible<const N: usize>:
TypeLayout + From<RPCL2Point<N>> + Into<RPCL2Point<N>> + Fields<N> + Default From<RPCL2Point<N>> + Into<RPCL2Point<N>> + Default + Sized
{ {
fn layout() -> LayoutDescription;
} }
/// Matching field names from each data point. #[derive(Debug)]
/// Always make sure to use the same order as in your conversion implementation to have a correct mapping.
///
/// This trait is needed to implement the `PointConvertible` trait.
///
/// # Example
/// ```
/// use ros_pointcloud2::prelude::*;
///
/// #[derive(Clone, Debug, PartialEq, Copy)]
/// pub struct MyPointXYZI {
/// pub x: f32,
/// pub y: f32,
/// pub z: f32,
/// pub intensity: f32,
/// }
///
/// impl Fields<4> for MyPointXYZI {
/// fn field_names_ordered() -> [&'static str; 4] {
/// ["x", "y", "z", "intensity"]
/// }
/// }
/// ```
pub trait Fields<const N: usize> {
fn field_names_ordered() -> [&'static str; N];
}
enum PointField { enum PointField {
Padding(u32), Padding(u32),
Field { size: u32, datatype: u8, count: u32 }, Field { size: u32, datatype: u8, count: u32 },
} }
#[derive(Debug)]
struct KnownLayoutInfo { struct KnownLayoutInfo {
fields: Vec<PointField>, fields: Vec<PointField>,
} }
/// Trait to enable the layout description for the point type for direct copy operations.
pub trait TypeLayout {
fn layout() -> LayoutDescription;
}
impl TryFrom<LayoutField> for PointField { impl TryFrom<LayoutField> for PointField {
type Error = MsgConversionError; type Error = MsgConversionError;
@ -1472,6 +1445,7 @@ impl FromBytes for u8 {
} }
} }
/* TODO test in test crate
#[cfg(test)] #[cfg(test)]
#[cfg(feature = "derive")] #[cfg(feature = "derive")]
mod tests { mod tests {
@ -1495,4 +1469,4 @@ mod tests {
let names = TestStruct::field_names_ordered(); let names = TestStruct::field_names_ordered();
assert_eq!(names, ["field1", "renamed_field", "field3", "field4"]); assert_eq!(names, ["field1", "renamed_field", "field3", "field4"]);
} }
} }*/

319
rpcl2/src/points.rs
View File

@ -1,12 +1,12 @@
//! Predefined point types commonly used in ROS. //! Predefined point types commonly used in ROS.
use crate::{Fields, LayoutDescription, LayoutField, PointConvertible, RPCL2Point, TypeLayout}; use crate::{LayoutDescription, LayoutField, PointConvertible, RPCL2Point};
/// A packed RGB color encoding as used in ROS tools. /// A packed RGB color encoding as used in ROS tools.
#[derive(Clone, Copy)] #[derive(Clone, Copy)]
#[repr(C)] #[repr(C, align(4))]
pub union RGB { pub union RGB {
packed: f32, packed: f32,
unpacked: [u8; 4], // 1 byte padding unpacked: [u8; 4], // Padding
} }
unsafe impl Send for RGB {} unsafe impl Send for RGB {}
@ -106,23 +106,13 @@ impl From<f32> for RGB {
/// Predefined point type commonly used in ROS with PCL. /// Predefined point type commonly used in ROS with PCL.
/// This is a 3D point with x, y, z coordinates. /// This is a 3D point with x, y, z coordinates.
#[derive(Clone, Debug, PartialEq, Copy, Default)] #[derive(Clone, Debug, PartialEq, Copy, Default)]
#[repr(C)] #[repr(C, align(16))]
pub struct PointXYZ { pub struct PointXYZ {
pub x: f32, pub x: f32,
pub y: f32, pub y: f32,
pub z: f32, pub z: f32,
} }
impl TypeLayout for PointXYZ {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
LayoutField::new("y", "f32", 4),
LayoutField::new("z", "f32", 4),
])
}
}
#[cfg(feature = "nalgebra")] #[cfg(feature = "nalgebra")]
impl From<nalgebra::Point3<f32>> for PointXYZ { impl From<nalgebra::Point3<f32>> for PointXYZ {
fn from(point: nalgebra::Point3<f32>) -> Self { fn from(point: nalgebra::Point3<f32>) -> Self {
@ -158,12 +148,6 @@ impl PointXYZ {
unsafe impl Send for PointXYZ {} unsafe impl Send for PointXYZ {}
unsafe impl Sync for PointXYZ {} unsafe impl Sync for PointXYZ {}
impl Fields<3> for PointXYZ {
fn field_names_ordered() -> [&'static str; 3] {
["x", "y", "z"]
}
}
impl From<RPCL2Point<3>> for PointXYZ { impl From<RPCL2Point<3>> for PointXYZ {
fn from(point: RPCL2Point<3>) -> Self { fn from(point: RPCL2Point<3>) -> Self {
Self::new(point[0].get(), point[1].get(), point[2].get()) Self::new(point[0].get(), point[1].get(), point[2].get())
@ -176,30 +160,28 @@ impl From<PointXYZ> for RPCL2Point<3> {
} }
} }
impl PointConvertible<3> for PointXYZ {} impl PointConvertible<3> for PointXYZ {
/// Predefined point type commonly used in ROS with PCL.
/// This is a 3D point with x, y, z coordinates and an intensity value.
#[derive(Clone, Debug, PartialEq, Copy, Default)]
#[repr(C)]
pub struct PointXYZI {
pub x: f32,
pub y: f32,
pub z: f32,
pub intensity: f32,
}
impl TypeLayout for PointXYZI {
fn layout() -> LayoutDescription { fn layout() -> LayoutDescription {
LayoutDescription::new(&[ LayoutDescription::new(&[
LayoutField::new("x", "f32", 4), LayoutField::new("x", "f32", 4),
LayoutField::new("y", "f32", 4), LayoutField::new("y", "f32", 4),
LayoutField::new("z", "f32", 4), LayoutField::new("z", "f32", 4),
LayoutField::new("intensity", "f32", 4), LayoutField::padding(4),
]) ])
} }
} }
/// Predefined point type commonly used in ROS with PCL.
/// This is a 3D point with x, y, z coordinates and an intensity value.
#[derive(Clone, Debug, PartialEq, Copy, Default)]
#[repr(C, align(16))]
pub struct PointXYZI {
pub x: f32,
pub y: f32,
pub z: f32,
pub intensity: f32,
}
impl PointXYZI { impl PointXYZI {
pub fn new(x: f32, y: f32, z: f32, intensity: f32) -> Self { pub fn new(x: f32, y: f32, z: f32, intensity: f32) -> Self {
Self { x, y, z, intensity } Self { x, y, z, intensity }
@ -216,12 +198,6 @@ impl PointXYZI {
unsafe impl Send for PointXYZI {} unsafe impl Send for PointXYZI {}
unsafe impl Sync for PointXYZI {} unsafe impl Sync for PointXYZI {}
impl Fields<4> for PointXYZI {
fn field_names_ordered() -> [&'static str; 4] {
["x", "y", "z", "intensity"]
}
}
impl From<RPCL2Point<4>> for PointXYZI { impl From<RPCL2Point<4>> for PointXYZI {
fn from(point: RPCL2Point<4>) -> Self { fn from(point: RPCL2Point<4>) -> Self {
Self::new( Self::new(
@ -245,30 +221,28 @@ impl From<PointXYZI> for RPCL2Point<4> {
} }
} }
impl PointConvertible<4> for PointXYZI {} impl PointConvertible<4> for PointXYZI {
/// Predefined point type commonly used in ROS with PCL.
/// This is a 3D point with x, y, z coordinates and a label.
#[derive(Clone, Debug, PartialEq, Copy, Default)]
#[repr(C)]
pub struct PointXYZL {
pub x: f32,
pub y: f32,
pub z: f32,
pub label: u32,
}
impl TypeLayout for PointXYZL {
fn layout() -> LayoutDescription { fn layout() -> LayoutDescription {
LayoutDescription::new(&[ LayoutDescription::new(&[
LayoutField::new("x", "f32", 4), LayoutField::new("x", "f32", 4),
LayoutField::new("y", "f32", 4), LayoutField::new("y", "f32", 4),
LayoutField::new("z", "f32", 4), LayoutField::new("z", "f32", 4),
LayoutField::new("label", "u32", 4), LayoutField::new("intensity", "f32", 4),
]) ])
} }
} }
/// Predefined point type commonly used in ROS with PCL.
/// This is a 3D point with x, y, z coordinates and a label.
#[derive(Clone, Debug, PartialEq, Copy, Default)]
#[repr(C, align(16))]
pub struct PointXYZL {
pub x: f32,
pub y: f32,
pub z: f32,
pub label: u32,
}
impl PointXYZL { impl PointXYZL {
pub fn new(x: f32, y: f32, z: f32, label: u32) -> Self { pub fn new(x: f32, y: f32, z: f32, label: u32) -> Self {
Self { x, y, z, label } Self { x, y, z, label }
@ -285,12 +259,6 @@ impl PointXYZL {
unsafe impl Send for PointXYZL {} unsafe impl Send for PointXYZL {}
unsafe impl Sync for PointXYZL {} unsafe impl Sync for PointXYZL {}
impl Fields<4> for PointXYZL {
fn field_names_ordered() -> [&'static str; 4] {
["x", "y", "z", "label"]
}
}
impl From<RPCL2Point<4>> for PointXYZL { impl From<RPCL2Point<4>> for PointXYZL {
fn from(point: RPCL2Point<4>) -> Self { fn from(point: RPCL2Point<4>) -> Self {
Self::new( Self::new(
@ -314,30 +282,28 @@ impl From<PointXYZL> for RPCL2Point<4> {
} }
} }
impl PointConvertible<4> for PointXYZL {} impl PointConvertible<4> for PointXYZL {
/// Predefined point type commonly used in ROS with PCL.
/// This is a 3D point with x, y, z coordinates and an RGB color value.
#[derive(Clone, Debug, PartialEq, Copy, Default)]
#[repr(C)]
pub struct PointXYZRGB {
pub x: f32,
pub y: f32,
pub z: f32,
pub rgb: RGB,
}
impl TypeLayout for PointXYZRGB {
fn layout() -> LayoutDescription { fn layout() -> LayoutDescription {
LayoutDescription::new(&[ LayoutDescription::new(&[
LayoutField::new("x", "f32", 4), LayoutField::new("x", "f32", 4),
LayoutField::new("y", "f32", 4), LayoutField::new("y", "f32", 4),
LayoutField::new("z", "f32", 4), LayoutField::new("z", "f32", 4),
LayoutField::new("rgb", "RGB", 4), LayoutField::new("label", "u32", 4),
]) ])
} }
} }
/// Predefined point type commonly used in ROS with PCL.
/// This is a 3D point with x, y, z coordinates and an RGB color value.
#[derive(Clone, Debug, PartialEq, Copy, Default)]
#[repr(C, align(16))]
pub struct PointXYZRGB {
pub x: f32,
pub y: f32,
pub z: f32,
pub rgb: RGB,
}
impl PointXYZRGB { impl PointXYZRGB {
#[must_use] #[must_use]
pub fn new(x: f32, y: f32, z: f32, r: u8, g: u8, b: u8) -> Self { pub fn new(x: f32, y: f32, z: f32, r: u8, g: u8, b: u8) -> Self {
@ -371,12 +337,6 @@ impl PointXYZRGB {
unsafe impl Send for PointXYZRGB {} unsafe impl Send for PointXYZRGB {}
unsafe impl Sync for PointXYZRGB {} unsafe impl Sync for PointXYZRGB {}
impl Fields<4> for PointXYZRGB {
fn field_names_ordered() -> [&'static str; 4] {
["x", "y", "z", "rgb"]
}
}
impl From<RPCL2Point<4>> for PointXYZRGB { impl From<RPCL2Point<4>> for PointXYZRGB {
fn from(point: RPCL2Point<4>) -> Self { fn from(point: RPCL2Point<4>) -> Self {
Self { Self {
@ -400,34 +360,30 @@ impl From<PointXYZRGB> for RPCL2Point<4> {
} }
} }
impl PointConvertible<4> for PointXYZRGB {} impl PointConvertible<4> for PointXYZRGB {
/// Predefined point type commonly used in ROS with PCL.
/// This is a 3D point with x, y, z coordinates and an RGBA color value.
/// The alpha channel is commonly used as padding but this crate uses every channel and no padding.
#[derive(Clone, Debug, PartialEq, Copy, Default)]
#[repr(C)]
pub struct PointXYZRGBA {
pub x: f32,
pub y: f32,
pub z: f32,
pub rgb: RGB,
pub a: u8,
}
impl TypeLayout for PointXYZRGBA {
fn layout() -> LayoutDescription { fn layout() -> LayoutDescription {
LayoutDescription::new(&[ LayoutDescription::new(&[
LayoutField::new("x", "f32", 4), LayoutField::new("x", "f32", 4),
LayoutField::new("y", "f32", 4), LayoutField::new("y", "f32", 4),
LayoutField::new("z", "f32", 4), LayoutField::new("z", "f32", 4),
LayoutField::new("rgb", "RGB", 4), LayoutField::new("rgb", "RGB", 4),
LayoutField::new("a", "u8", 1),
LayoutField::padding(3),
]) ])
} }
} }
/// Predefined point type commonly used in ROS with PCL.
/// This is a 3D point with x, y, z coordinates and an RGBA color value.
/// The alpha channel is commonly used as padding but this crate uses every channel and no padding.
#[derive(Clone, Debug, PartialEq, Copy, Default)]
#[repr(C, align(16))]
pub struct PointXYZRGBA {
pub x: f32,
pub y: f32,
pub z: f32,
pub rgb: RGB,
pub a: u8,
}
impl PointXYZRGBA { impl PointXYZRGBA {
#[must_use] #[must_use]
pub fn new(x: f32, y: f32, z: f32, r: u8, g: u8, b: u8, a: u8) -> Self { pub fn new(x: f32, y: f32, z: f32, r: u8, g: u8, b: u8, a: u8) -> Self {
@ -461,12 +417,6 @@ impl PointXYZRGBA {
unsafe impl Send for PointXYZRGBA {} unsafe impl Send for PointXYZRGBA {}
unsafe impl Sync for PointXYZRGBA {} unsafe impl Sync for PointXYZRGBA {}
impl Fields<5> for PointXYZRGBA {
fn field_names_ordered() -> [&'static str; 5] {
["x", "y", "z", "rgb", "a"]
}
}
impl From<RPCL2Point<5>> for PointXYZRGBA { impl From<RPCL2Point<5>> for PointXYZRGBA {
fn from(point: RPCL2Point<5>) -> Self { fn from(point: RPCL2Point<5>) -> Self {
Self { Self {
@ -492,12 +442,23 @@ impl From<PointXYZRGBA> for RPCL2Point<5> {
} }
} }
impl PointConvertible<5> for PointXYZRGBA {} impl PointConvertible<5> for PointXYZRGBA {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
LayoutField::new("y", "f32", 4),
LayoutField::new("z", "f32", 4),
LayoutField::new("rgb", "RGB", 4),
LayoutField::new("a", "u8", 1),
LayoutField::padding(15),
])
}
}
/// Predefined point type commonly used in ROS with PCL. /// Predefined point type commonly used in ROS with PCL.
/// This is a 3D point with x, y, z coordinates, an RGB color value and a normal vector. /// This is a 3D point with x, y, z coordinates, an RGB color value and a normal vector.
#[derive(Clone, Debug, PartialEq, Copy, Default)] #[derive(Clone, Debug, PartialEq, Copy, Default)]
#[repr(C)] #[repr(C, align(16))]
pub struct PointXYZRGBNormal { pub struct PointXYZRGBNormal {
pub x: f32, pub x: f32,
pub y: f32, pub y: f32,
@ -508,20 +469,6 @@ pub struct PointXYZRGBNormal {
pub normal_z: f32, pub normal_z: f32,
} }
impl TypeLayout for PointXYZRGBNormal {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
LayoutField::new("y", "f32", 4),
LayoutField::new("z", "f32", 4),
LayoutField::new("rgb", "RGB", 4),
LayoutField::new("normal_x", "f32", 4),
LayoutField::new("normal_y", "f32", 4),
LayoutField::new("normal_z", "f32", 4),
])
}
}
impl PointXYZRGBNormal { impl PointXYZRGBNormal {
#[must_use] #[must_use]
pub fn new( pub fn new(
@ -570,12 +517,6 @@ impl PointXYZRGBNormal {
unsafe impl Send for PointXYZRGBNormal {} unsafe impl Send for PointXYZRGBNormal {}
unsafe impl Sync for PointXYZRGBNormal {} unsafe impl Sync for PointXYZRGBNormal {}
impl Fields<7> for PointXYZRGBNormal {
fn field_names_ordered() -> [&'static str; 7] {
["x", "y", "z", "rgb", "normal_x", "normal_y", "normal_z"]
}
}
impl From<RPCL2Point<7>> for PointXYZRGBNormal { impl From<RPCL2Point<7>> for PointXYZRGBNormal {
fn from(point: RPCL2Point<7>) -> Self { fn from(point: RPCL2Point<7>) -> Self {
Self { Self {
@ -605,12 +546,25 @@ impl From<PointXYZRGBNormal> for RPCL2Point<7> {
} }
} }
impl PointConvertible<7> for PointXYZRGBNormal {} impl PointConvertible<7> for PointXYZRGBNormal {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
LayoutField::new("y", "f32", 4),
LayoutField::new("z", "f32", 4),
LayoutField::new("rgb", "RGB", 4),
LayoutField::new("normal_x", "f32", 4),
LayoutField::new("normal_y", "f32", 4),
LayoutField::new("normal_z", "f32", 4),
LayoutField::padding(4),
])
}
}
/// Predefined point type commonly used in ROS with PCL. /// Predefined point type commonly used in ROS with PCL.
/// This is a 3D point with x, y, z coordinates, an intensity value and a normal vector. /// This is a 3D point with x, y, z coordinates, an intensity value and a normal vector.
#[derive(Clone, Debug, PartialEq, Copy, Default)] #[derive(Clone, Debug, PartialEq, Copy, Default)]
#[repr(C)] #[repr(C, align(16))]
pub struct PointXYZINormal { pub struct PointXYZINormal {
pub x: f32, pub x: f32,
pub y: f32, pub y: f32,
@ -621,20 +575,6 @@ pub struct PointXYZINormal {
pub normal_z: f32, pub normal_z: f32,
} }
impl TypeLayout for PointXYZINormal {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
LayoutField::new("y", "f32", 4),
LayoutField::new("z", "f32", 4),
LayoutField::new("intensity", "f32", 4),
LayoutField::new("normal_x", "f32", 4),
LayoutField::new("normal_y", "f32", 4),
LayoutField::new("normal_z", "f32", 4),
])
}
}
impl PointXYZINormal { impl PointXYZINormal {
#[must_use] #[must_use]
pub fn new( pub fn new(
@ -668,12 +608,6 @@ impl PointXYZINormal {
unsafe impl Send for PointXYZINormal {} unsafe impl Send for PointXYZINormal {}
unsafe impl Sync for PointXYZINormal {} unsafe impl Sync for PointXYZINormal {}
impl Fields<7> for PointXYZINormal {
fn field_names_ordered() -> [&'static str; 7] {
["x", "y", "z", "i", "normal_x", "normal_y", "normal_z"]
}
}
impl From<RPCL2Point<7>> for PointXYZINormal { impl From<RPCL2Point<7>> for PointXYZINormal {
fn from(point: RPCL2Point<7>) -> Self { fn from(point: RPCL2Point<7>) -> Self {
Self::new( Self::new(
@ -703,12 +637,25 @@ impl From<PointXYZINormal> for RPCL2Point<7> {
} }
} }
impl PointConvertible<7> for PointXYZINormal {} impl PointConvertible<7> for PointXYZINormal {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
LayoutField::new("y", "f32", 4),
LayoutField::new("z", "f32", 4),
LayoutField::new("intensity", "f32", 4),
LayoutField::new("normal_x", "f32", 4),
LayoutField::new("normal_y", "f32", 4),
LayoutField::new("normal_z", "f32", 4),
LayoutField::padding(4),
])
}
}
/// Predefined point type commonly used in ROS with PCL. /// Predefined point type commonly used in ROS with PCL.
/// This is a 3D point with x, y, z coordinates and a label. /// This is a 3D point with x, y, z coordinates and a label.
#[derive(Clone, Debug, PartialEq, Copy, Default)] #[derive(Clone, Debug, PartialEq, Copy, Default)]
#[repr(C)] #[repr(C, align(16))]
pub struct PointXYZRGBL { pub struct PointXYZRGBL {
pub x: f32, pub x: f32,
pub y: f32, pub y: f32,
@ -717,18 +664,6 @@ pub struct PointXYZRGBL {
pub label: u32, pub label: u32,
} }
impl TypeLayout for PointXYZRGBL {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
LayoutField::new("y", "f32", 4),
LayoutField::new("z", "f32", 4),
LayoutField::new("rgb", "RGB", 4),
LayoutField::new("label", "u32", 4),
])
}
}
unsafe impl Send for PointXYZRGBL {} unsafe impl Send for PointXYZRGBL {}
unsafe impl Sync for PointXYZRGBL {} unsafe impl Sync for PointXYZRGBL {}
@ -768,12 +703,6 @@ impl PointXYZRGBL {
} }
} }
impl Fields<5> for PointXYZRGBL {
fn field_names_ordered() -> [&'static str; 5] {
["x", "y", "z", "rgb", "label"]
}
}
impl From<RPCL2Point<5>> for PointXYZRGBL { impl From<RPCL2Point<5>> for PointXYZRGBL {
fn from(point: RPCL2Point<5>) -> Self { fn from(point: RPCL2Point<5>) -> Self {
Self { Self {
@ -799,12 +728,23 @@ impl From<PointXYZRGBL> for RPCL2Point<5> {
} }
} }
impl PointConvertible<5> for PointXYZRGBL {} impl PointConvertible<5> for PointXYZRGBL {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
LayoutField::new("y", "f32", 4),
LayoutField::new("z", "f32", 4),
LayoutField::new("rgb", "RGB", 4),
LayoutField::new("label", "u32", 4),
LayoutField::padding(12),
])
}
}
/// Predefined point type commonly used in ROS with PCL. /// Predefined point type commonly used in ROS with PCL.
/// This is a 3D point with x, y, z coordinates and a normal vector. /// This is a 3D point with x, y, z coordinates and a normal vector.
#[derive(Clone, Debug, PartialEq, Copy, Default)] #[derive(Clone, Debug, PartialEq, Copy, Default)]
#[repr(C)] #[repr(C, align(16))]
pub struct PointXYZNormal { pub struct PointXYZNormal {
pub x: f32, pub x: f32,
pub y: f32, pub y: f32,
@ -814,19 +754,6 @@ pub struct PointXYZNormal {
pub normal_z: f32, pub normal_z: f32,
} }
impl TypeLayout for PointXYZNormal {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
LayoutField::new("y", "f32", 4),
LayoutField::new("z", "f32", 4),
LayoutField::new("normal_x", "f32", 4),
LayoutField::new("normal_y", "f32", 4),
LayoutField::new("normal_z", "f32", 4),
])
}
}
impl PointXYZNormal { impl PointXYZNormal {
#[must_use] #[must_use]
pub fn new(x: f32, y: f32, z: f32, normal_x: f32, normal_y: f32, normal_z: f32) -> Self { pub fn new(x: f32, y: f32, z: f32, normal_x: f32, normal_y: f32, normal_z: f32) -> Self {
@ -851,12 +778,6 @@ impl PointXYZNormal {
unsafe impl Send for PointXYZNormal {} unsafe impl Send for PointXYZNormal {}
unsafe impl Sync for PointXYZNormal {} unsafe impl Sync for PointXYZNormal {}
impl Fields<6> for PointXYZNormal {
fn field_names_ordered() -> [&'static str; 6] {
["x", "y", "z", "normal_x", "normal_y", "normal_z"]
}
}
impl From<RPCL2Point<6>> for PointXYZNormal { impl From<RPCL2Point<6>> for PointXYZNormal {
fn from(point: RPCL2Point<6>) -> Self { fn from(point: RPCL2Point<6>) -> Self {
Self::new( Self::new(
@ -884,4 +805,16 @@ impl From<PointXYZNormal> for RPCL2Point<6> {
} }
} }
impl PointConvertible<6> for PointXYZNormal {} impl PointConvertible<6> for PointXYZNormal {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
LayoutField::new("y", "f32", 4),
LayoutField::new("z", "f32", 4),
LayoutField::new("normal_x", "f32", 4),
LayoutField::new("normal_y", "f32", 4),
LayoutField::new("normal_z", "f32", 4),
LayoutField::padding(8),
])
}
}

4
rpcl2/src/prelude.rs
View File

@ -1,7 +1,7 @@
//! Commonly used types and traits for predefined and custom point conversions. //! Commonly used types and traits for predefined and custom point conversions.
pub use crate::{ pub use crate::{
FieldDatatype, Fields, FromBytes, GetFieldDatatype, LayoutDescription, LayoutField, FieldDatatype, FromBytes, GetFieldDatatype, LayoutDescription, LayoutField, MsgConversionError,
MsgConversionError, PointCloud2Msg, PointConvertible, PointDataBuffer, RPCL2Point, TypeLayout, PointCloud2Msg, PointConvertible, PointDataBuffer, RPCL2Point,
}; };
pub use crate::points::*; pub use crate::points::*;

130
rpcl2/tests/e2e_test.rs
View File

@ -129,7 +129,7 @@ fn conv_cloud_par_par_iter() {
#[test] #[test]
#[cfg(feature = "derive")] #[cfg(feature = "derive")]
fn custom_xyz_f32() { fn custom_xyz_f32() {
#[derive(Debug, PartialEq, Clone, Default, PointConvertible, TypeLayout)] #[derive(Debug, PartialEq, Clone, Default)]
#[repr(C)] #[repr(C)]
struct CustomPoint { struct CustomPoint {
x: f32, x: f32,
@ -137,6 +137,32 @@ fn custom_xyz_f32() {
z: f32, z: f32,
} }
impl From<RPCL2Point<3>> for CustomPoint {
fn from(point: RPCL2Point<3>) -> Self {
Self {
x: point[0].get(),
y: point[1].get(),
z: point[2].get(),
}
}
}
impl From<CustomPoint> for RPCL2Point<3> {
fn from(point: CustomPoint) -> Self {
[point.x.into(), point.y.into(), point.z.into()].into()
}
}
impl PointConvertible<3> for CustomPoint {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
LayoutField::new("y", "f32", 4),
LayoutField::new("z", "f32", 4),
])
}
}
convert_from_into!( convert_from_into!(
CustomPoint, CustomPoint,
vec![ vec![
@ -160,7 +186,6 @@ fn custom_xyz_f32() {
} }
#[test] #[test]
#[cfg(feature = "derive")]
fn custom_xyzi_f32() { fn custom_xyzi_f32() {
let cloud: Vec<CustomPointXYZI> = vec![ let cloud: Vec<CustomPointXYZI> = vec![
CustomPointXYZI { CustomPointXYZI {
@ -189,7 +214,7 @@ fn custom_xyzi_f32() {
}, },
]; ];
#[derive(Debug, PartialEq, Clone, Default, PointConvertible, TypeLayout)] #[derive(Debug, PartialEq, Clone, Default)]
#[repr(C)] #[repr(C)]
struct CustomPointXYZI { struct CustomPointXYZI {
x: f32, x: f32,
@ -198,13 +223,48 @@ fn custom_xyzi_f32() {
i: u8, i: u8,
} }
impl From<RPCL2Point<4>> for CustomPointXYZI {
fn from(point: RPCL2Point<4>) -> Self {
Self {
x: point[0].get(),
y: point[1].get(),
z: point[2].get(),
i: point[3].get(),
}
}
}
impl From<CustomPointXYZI> for RPCL2Point<4> {
fn from(point: CustomPointXYZI) -> Self {
[
point.x.into(),
point.y.into(),
point.z.into(),
point.i.into(),
]
.into()
}
}
impl PointConvertible<4> for CustomPointXYZI {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
LayoutField::new("y", "f32", 4),
LayoutField::new("z", "f32", 4),
LayoutField::new("i", "u8", 1),
LayoutField::padding(3),
])
}
}
convert_from_into!(CustomPointXYZI, cloud); convert_from_into!(CustomPointXYZI, cloud);
} }
#[test] #[test]
#[cfg(feature = "derive")] #[cfg(feature = "derive")]
fn custom_rgba_f32() { fn custom_rgba_f32() {
#[derive(Debug, PartialEq, Clone, Default, PointConvertible, TypeLayout)] #[derive(Debug, PartialEq, Clone, Default)]
#[repr(C)] #[repr(C)]
struct CustomPoint { struct CustomPoint {
x: f32, x: f32,
@ -216,6 +276,53 @@ fn custom_rgba_f32() {
a: u8, a: u8,
} }
impl From<RPCL2Point<7>> for CustomPoint {
fn from(point: RPCL2Point<7>) -> Self {
Self {
x: point[0].get(),
y: point[1].get(),
z: point[2].get(),
r: point[3].get(),
g: point[4].get(),
b: point[5].get(),
a: point[6].get(),
}
}
}
impl From<CustomPoint> for RPCL2Point<7> {
fn from(point: CustomPoint) -> Self {
[
point.x.into(),
point.y.into(),
point.z.into(),
point.r.into(),
point.g.into(),
point.b.into(),
point.a.into(),
]
.into()
}
}
impl PointConvertible<7> for CustomPoint {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
LayoutField::new("y", "f32", 4),
LayoutField::new("z", "f32", 4),
LayoutField::new("r", "u8", 1),
LayoutField::padding(3),
LayoutField::new("g", "u8", 1),
LayoutField::padding(3),
LayoutField::new("b", "u8", 1),
LayoutField::padding(3),
LayoutField::new("a", "u8", 1),
LayoutField::padding(3),
])
}
}
let cloud = vec![ let cloud = vec![
CustomPoint { CustomPoint {
x: 0.0, x: 0.0,
@ -447,9 +554,8 @@ fn write_xyzi_read_xyz_vec() {
} }
#[test] #[test]
#[cfg(feature = "derive")]
fn write_less_than_available() { fn write_less_than_available() {
#[derive(Debug, PartialEq, Clone, Default, TypeLayout)] #[derive(Debug, PartialEq, Clone, Default)]
#[repr(C)] #[repr(C)]
struct CustomPoint { struct CustomPoint {
x: f32, x: f32,
@ -475,14 +581,16 @@ fn write_less_than_available() {
} }
} }
impl Fields<3> for CustomPoint { impl PointConvertible<3> for CustomPoint {
fn field_names_ordered() -> [&'static str; 3] { fn layout() -> LayoutDescription {
["x", "y", "z"] LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
LayoutField::new("y", "f32", 4),
LayoutField::new("z", "f32", 4),
])
} }
} }
impl PointConvertible<3> for CustomPoint {}
let write_cloud = vec![ let write_cloud = vec![
CustomPoint { CustomPoint {
x: 1.0, x: 1.0,