rc.3
This commit is contained in:
stelzo
parent
d7d51e0cc2
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@ -1,6 +1,6 @@
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[package]
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name = "ros_pointcloud2"
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version = "0.5.0-rc.2"
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version = "0.5.0-rc.3"
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edition = "2021"
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authors = ["Christopher Sieh <stelzo@steado.de>"]
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description = "Customizable conversions for working with sensor_msgs/PointCloud2."
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@ -32,10 +32,10 @@ rust-version = "1.63"
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[dependencies]
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rosrust_msg = { version = "0.1", optional = true }
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rosrust = { version = "0.9.11", optional = true }
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r2r = { version = "0.8.4", optional = true }
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r2r = { version = "0.9", optional = true }
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rayon = { version = "1", optional = true }
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nalgebra = { version = "0.32.5", optional = true, default-features = false }
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rpcl2-derive = { version = "0.2.0", optional = true }
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nalgebra = { version = "0.32", optional = true, default-features = false }
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rpcl2-derive = { version = "0.2", optional = true }
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memoffset = { version = "0.9", optional = true }
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sensor_msgs = { version = "*", optional = true }
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43
README.md
43
README.md
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@ -7,7 +7,7 @@
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ros_pointcloud2 uses its own type for the message `PointCloud2Msg` to keep the library framework agnostic. ROS1 and ROS2 are supported with feature flags.
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Get started with the example below, check out the other use cases in the `examples` folder or see the [Documentation](https://docs.rs/ros_pointcloud2/0.5.0-rc.1/) for a complete guide.
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Get started with the example below, check out the other use cases in the `examples` folder or see the [Documentation](https://docs.rs/ros_pointcloud2/0.5.0-rc.3/) for a complete guide.
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## Quickstart
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@ -57,9 +57,9 @@ You can use `rosrust` and `r2r` by enabling the respective feature:
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```toml
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[dependencies]
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ros_pointcloud2 = { version = "*", features = ["r2r_msg", "derive"]}
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ros_pointcloud2 = { version = "*", features = ["r2r_msg"]}
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# or
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ros_pointcloud2 = { version = "*", features = ["rosrust_msg", "derive"]}
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ros_pointcloud2 = { version = "*", features = ["rosrust_msg"]}
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```
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### rclrs (ros2_rust)
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@ -68,7 +68,7 @@ Features do not work properly with `rcrls` because the messages are linked exter
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```toml
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[dependencies]
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ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.5.0-rc.1_rclrs" }
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ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.5.0-rc.3_rclrs" }
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```
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Also, indicate the following dependencies to your linker inside the `package.xml` of your package.
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@ -84,32 +84,21 @@ Please open an issue or PR if you need other integrations.
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## Performance
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This library offers a speed up when compared to PointCloudLibrary (PCL) conversions but the specific factor depends heavily on the use case and system.
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The `_vec` conversions are on average ~6x faster than PCL while the single core iteration `_iter` functions are around ~2x faster.
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Parallelization with `_par_iter` gives a ~9x speed up compared to an OpenMP accelerated PCL pipeline.
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The results are measured on an Intel i7-14700 with benchmarks from [this repository](https://github.com/stelzo/ros_pcl_conv_bench).
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See [this repository](https://github.com/stelzo/ros_pcl_conv_bench) for a detailed benchmark.
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For minimizing the conversion overhead in general, always use the functions that best fit your use case.
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## `no_std` Environments
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### License
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The `_iter` conversions are compatible with `#[no_std]` environments if an allocator is provided. This is due to the fact that names for point fields do not have a maximum length, and PointCloud2 data vectors can have arbitrary sizes. Use `default-features = false` to disable std for this crate. Only `nalgebra` can be added as an additional feature in this case.
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<sup>
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Licensed under either of <a href="LICENSE-APACHE">Apache License, Version
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2.0</a> or <a href="LICENSE-MIT">MIT license</a> at your option.
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</sup>
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## License
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<br>
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Licensed under either of
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- Apache License, Version 2.0, ([LICENSE-APACHE](LICENSE-APACHE) or http://www.apache.org/licenses/LICENSE-2.0)
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- MIT license ([LICENSE-MIT](LICENSE-MIT) or http://opensource.org/licenses/MIT)
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at your option.
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### type-layout
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For compatibility reasons, a patched version of `type-layout` is included in this repository. The original crate can be found [here](https://crates.io/crates/type-layout). After the patch is applied on the original `type-layout` crate ([PR](https://github.com/LPGhatguy/type-layout/pull/9)), the local dependency will be changed to the original crate.
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`type-layout` is licensed under MIT or Apache-2.0 and Copyright by Lucien Greathouse. The changes are highlighted in the diff of the PR.
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### Contribution
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Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.
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<sub>
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Unless you explicitly state otherwise, any contribution intentionally submitted
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for inclusion in this crate by you, as defined in the Apache-2.0 license, shall
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be dual licensed as above, without any additional terms or conditions.
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</sub>
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@ -319,9 +319,16 @@ where
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return Err(MsgConversionError::DataLengthMismatch);
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}
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let last_offset = offsets.last().expect("Dimensionality is 0.");
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let last_offset = match offsets.last() {
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Some(offset) => *offset,
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None => return Err(MsgConversionError::DataLengthMismatch),
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};
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let last_pdata = match pdata.last() {
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Some(pdata) => pdata,
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None => return Err(MsgConversionError::DataLengthMismatch),
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};
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let last_pdata = pdata.last().expect("Dimensionality is 0.");
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let size_with_last_pdata = last_offset + last_pdata.1.size();
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if size_with_last_pdata > point_step_size {
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return Err(MsgConversionError::DataLengthMismatch);
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@ -496,4 +503,4 @@ mod test {
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let first_right = right.next();
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assert!(first_right.is_none());
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}
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}
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}
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28
src/lib.rs
28
src/lib.rs
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@ -11,11 +11,11 @@
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//! - [`try_into_iter`](PointCloud2Msg::try_into_iter)
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//!
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//! These feature predictable performance but they do not scale well with large clouds. Learn more about that in the [performance section](https://github.com/stelzo/ros_pointcloud2?tab=readme-ov-file#performance) of the repository.
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//! The iterators are useful when your conversions are more complex than a simple copy or you the cloud is small enough.
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//! The iterators are useful when your conversions are more complex than a simple copy or the cloud is small enough.
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//!
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//! When the cloud is getting larger or you are doing a lot of processing per point, switch to the parallel iterators.
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//! - [`try_into_par_iter`](PointCloud2Msg::try_into_par_iter) requires `rayon` feature
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//! - [`try_from_par_iter`](PointCloud2Msg::try_from_par_iter) requires `rayon` + `derive` feature
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//! - [`try_from_par_iter`](PointCloud2Msg::try_from_par_iter) requires `rayon` feature
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//!
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//! For ROS interoperability, there are integrations avialable with feature flags. If you miss a message type, please open an issue or a PR.
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//! See the [`ros`] module for more information on how to integrate more libraries.
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@ -56,10 +56,10 @@
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//! - r2r_msg — Integration for the ROS2 library [r2r](https://github.com/sequenceplanner/r2r).
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//! - rosrust_msg — Integration with the [rosrust](https://github.com/adnanademovic/rosrust) library for ROS1 message types.
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//! - (rclrs_msg) — Integration for ROS2 [rclrs](https://github.com/ros2-rust/ros2_rust) but it currently needs [this workaround](https://github.com/stelzo/ros_pointcloud2?tab=readme-ov-file#rclrs-ros2_rust).
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//! - derive *(enabled by default)* — Enables the `_vec` functions and offers helpful custom point derive macros for the [`PointConvertible`] trait.
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//! - rayon — Parallel iterator support for `_par_iter` functions. [`PointCloud2Msg::try_from_par_iter`] additionally needs the 'derive' feature.
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//! - derive — Offers implementations for the [`PointConvertible`] trait needed for custom points.
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//! - rayon — Parallel iterator support for `_par_iter` functions.
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//! - nalgebra — Predefined points offer a nalgebra typed getter for coordinates (e.g. [`xyz`](points::PointXYZ::xyz)).
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//! - std *(enabled by default)* — Use the standard library. `no_std` only works standalone or with the 'nalgebra' feature.
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//! - std *(enabled by default)* — Omit this feature to use this library in no_std environments. ROS integrations and 'rayon' will not work with no_std.
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//!
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//! # Custom Points
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//! Implement [`PointConvertible`] for your point with the `derive` feature or manually.
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@ -125,10 +125,11 @@
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//! ```
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#![crate_type = "lib"]
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#![cfg_attr(docsrs, feature(doc_cfg))]
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#![doc(html_root_url = "https://docs.rs/ros_pointcloud2/0.5.0-rc.2")]
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#![doc(html_root_url = "https://docs.rs/ros_pointcloud2/0.5.0-rc.3")]
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#![warn(clippy::print_stderr)]
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#![warn(clippy::print_stdout)]
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#![warn(clippy::unwrap_used)]
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#![warn(clippy::expect_used)]
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#![warn(clippy::cargo)]
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#![warn(clippy::std_instead_of_core)]
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#![warn(clippy::alloc_instead_of_core)]
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@ -474,7 +475,7 @@ fn ordered_field_names<const N: usize, C: PointConvertible<N>>() -> Vec<String>
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name,
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ty: _,
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size: _,
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} => name.to_string(),
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} => name.as_ref().into(),
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_ => unreachable!("Fields must be filtered before."),
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})
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.collect()
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@ -492,12 +493,13 @@ impl PointCloud2Msg {
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let field_names = ordered_field_names::<N, C>();
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debug_assert!(field_names.len() == N);
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let layout = KnownLayoutInfo::try_from(C::layout())?;
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debug_assert!(field_names.len() <= layout.fields.len());
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let target_layout = KnownLayoutInfo::try_from(C::layout())?;
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debug_assert!(field_names.len() <= target_layout.fields.len());
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debug_assert!(self.fields.len() <= target_layout.fields.len());
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let mut offset: u32 = 0;
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let mut field_counter = 0;
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for f in layout.fields.iter() {
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for f in target_layout.fields.iter() {
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match f {
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PointField::Field {
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datatype,
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@ -913,13 +915,13 @@ pub trait PointConvertible<const N: usize>:
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fn layout() -> LayoutDescription;
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}
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#[derive(Debug)]
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#[derive(Debug, Clone)]
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enum PointField {
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Padding(u32),
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Field { size: u32, datatype: u8, count: u32 },
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}
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#[derive(Debug)]
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#[derive(Debug, Clone)]
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struct KnownLayoutInfo {
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fields: Vec<PointField>,
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}
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@ -1445,4 +1447,4 @@ impl FromBytes for u8 {
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fn from_le_bytes(bytes: PointDataBuffer) -> Self {
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Self::from_le_bytes([bytes[0]])
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}
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}
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}
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@ -817,4 +817,4 @@ impl PointConvertible<6> for PointXYZNormal {
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LayoutField::padding(8),
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])
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}
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}
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}
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@ -11,4 +11,4 @@ pub use crate::ros::*;
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pub use rayon::prelude::*;
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#[cfg(feature = "derive")]
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pub use rpcl2_derive::*;
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pub use rpcl2_derive::*;
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