rc.3

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "ros_pointcloud2"
-version = "0.5.0-rc.2"
+version = "0.5.0-rc.3"
 edition = "2021"
 authors = ["Christopher Sieh <stelzo@steado.de>"]
 description = "Customizable conversions for working with sensor_msgs/PointCloud2."
@@ -32,10 +32,10 @@ rust-version = "1.63"
 [dependencies]
 rosrust_msg = { version = "0.1", optional = true }
 rosrust = { version = "0.9.11", optional = true }
-r2r = { version = "0.8.4", optional = true }
+r2r = { version = "0.9", optional = true }
 rayon = { version = "1", optional = true }
-nalgebra = { version = "0.32.5", optional = true, default-features = false }
+nalgebra = { version = "0.32", optional = true, default-features = false }
-rpcl2-derive = { version = "0.2.0", optional = true }
+rpcl2-derive = { version = "0.2", optional = true }
 memoffset = { version = "0.9", optional = true }
 
 sensor_msgs = { version = "*", optional = true }

README.md

@@ -7,7 +7,7 @@
 
 ros_pointcloud2 uses its own type for the message `PointCloud2Msg` to keep the library framework agnostic. ROS1 and ROS2 are supported with feature flags.
 
-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.
+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.
 
 ## Quickstart
 
@@ -57,9 +57,9 @@ You can use `rosrust` and `r2r` by enabling the respective feature:
 
 ```toml
 [dependencies]
-ros_pointcloud2 = { version = "*", features = ["r2r_msg", "derive"]}
+ros_pointcloud2 = { version = "*", features = ["r2r_msg"]}
 # or
-ros_pointcloud2 = { version = "*", features = ["rosrust_msg", "derive"]}
+ros_pointcloud2 = { version = "*", features = ["rosrust_msg"]}
 ```
 
 ### rclrs (ros2_rust)
@@ -68,7 +68,7 @@ Features do not work properly with `rcrls` because the messages are linked exter
 
 ```toml
 [dependencies]
-ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.5.0-rc.1_rclrs" }
+ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.5.0-rc.3_rclrs" }
 ```
 
 Also, indicate the following dependencies to your linker inside the `package.xml` of your package.
@@ -84,32 +84,21 @@ Please open an issue or PR if you need other integrations.
 ## Performance
 
 This library offers a speed up when compared to PointCloudLibrary (PCL) conversions but the specific factor depends heavily on the use case and system.
-The `_vec` conversions are on average ~6x faster than PCL while the single core iteration `_iter` functions are around ~2x faster.
+See [this repository](https://github.com/stelzo/ros_pcl_conv_bench) for a detailed benchmark.
-Parallelization with `_par_iter` gives a ~9x speed up compared to an OpenMP accelerated PCL pipeline.
-
-The results are measured on an Intel i7-14700 with benchmarks from [this repository](https://github.com/stelzo/ros_pcl_conv_bench).
 
 For minimizing the conversion overhead in general, always use the functions that best fit your use case.
 
-## `no_std` Environments
+### License
 
-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.
+<sup>
+Licensed under either of <a href="LICENSE-APACHE">Apache License, Version
+2.0</a> or <a href="LICENSE-MIT">MIT license</a> at your option.
+</sup>
 
-## License
+<br>
 
-Licensed under either of
+<sub>
-
+Unless you explicitly state otherwise, any contribution intentionally submitted
-- Apache License, Version 2.0, ([LICENSE-APACHE](LICENSE-APACHE) or http://www.apache.org/licenses/LICENSE-2.0)
+for inclusion in this crate by you, as defined in the Apache-2.0 license, shall
-- MIT license ([LICENSE-MIT](LICENSE-MIT) or http://opensource.org/licenses/MIT)
+be dual licensed as above, without any additional terms or conditions.
-
+</sub>
-at your option.
-
-### type-layout
-
-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.
-
-`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.
-
-### Contribution
-
-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.

src/iterator.rs

@@ -319,9 +319,16 @@ where
             return Err(MsgConversionError::DataLengthMismatch);
         }
 
-        let last_offset = offsets.last().expect("Dimensionality is 0.");
+        let last_offset = match offsets.last() {
+            Some(offset) => *offset,
+            None => return Err(MsgConversionError::DataLengthMismatch),
+        };
+
+        let last_pdata = match pdata.last() {
+            Some(pdata) => pdata,
+            None => return Err(MsgConversionError::DataLengthMismatch),
+        };
 
-        let last_pdata = pdata.last().expect("Dimensionality is 0.");
         let size_with_last_pdata = last_offset + last_pdata.1.size();
         if size_with_last_pdata > point_step_size {
             return Err(MsgConversionError::DataLengthMismatch);
@@ -496,4 +503,4 @@ mod test {
         let first_right = right.next();
         assert!(first_right.is_none());
     }
-}
+}

src/lib.rs

@@ -11,11 +11,11 @@
 //! - [`try_into_iter`](PointCloud2Msg::try_into_iter)
 //!
 //! 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.
-//! The iterators are useful when your conversions are more complex than a simple copy or you the cloud is small enough.
+//! The iterators are useful when your conversions are more complex than a simple copy or the cloud is small enough.
 //!
 //! When the cloud is getting larger or you are doing a lot of processing per point, switch to the parallel iterators.
 //! - [`try_into_par_iter`](PointCloud2Msg::try_into_par_iter) requires `rayon` feature
-//! - [`try_from_par_iter`](PointCloud2Msg::try_from_par_iter) requires `rayon` + `derive` feature
+//! - [`try_from_par_iter`](PointCloud2Msg::try_from_par_iter) requires `rayon` feature
 //!
 //! For ROS interoperability, there are integrations avialable with feature flags. If you miss a message type, please open an issue or a PR.
 //! See the [`ros`] module for more information on how to integrate more libraries.
@@ -56,10 +56,10 @@
 //! - r2r_msg — Integration for the ROS2 library [r2r](https://github.com/sequenceplanner/r2r).
 //! - rosrust_msg — Integration with the [rosrust](https://github.com/adnanademovic/rosrust) library for ROS1 message types.
 //! - (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).
-//! - derive *(enabled by default)* — Enables the `_vec` functions and offers helpful custom point derive macros for the [`PointConvertible`] trait.
+//! - derive — Offers implementations for the [`PointConvertible`] trait needed for custom points.
-//! - rayon — Parallel iterator support for `_par_iter` functions. [`PointCloud2Msg::try_from_par_iter`] additionally needs the 'derive' feature.
+//! - rayon — Parallel iterator support for `_par_iter` functions.
 //! - nalgebra — Predefined points offer a nalgebra typed getter for coordinates (e.g. [`xyz`](points::PointXYZ::xyz)).
-//! - std *(enabled by default)* — Use the standard library. `no_std` only works standalone or with the 'nalgebra' feature.
+//! - 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.
 //!
 //! # Custom Points
 //! Implement [`PointConvertible`] for your point with the `derive` feature or manually.
@@ -125,10 +125,11 @@
 //! ```
 #![crate_type = "lib"]
 #![cfg_attr(docsrs, feature(doc_cfg))]
-#![doc(html_root_url = "https://docs.rs/ros_pointcloud2/0.5.0-rc.2")]
+#![doc(html_root_url = "https://docs.rs/ros_pointcloud2/0.5.0-rc.3")]
 #![warn(clippy::print_stderr)]
 #![warn(clippy::print_stdout)]
 #![warn(clippy::unwrap_used)]
+#![warn(clippy::expect_used)]
 #![warn(clippy::cargo)]
 #![warn(clippy::std_instead_of_core)]
 #![warn(clippy::alloc_instead_of_core)]
@@ -474,7 +475,7 @@ fn ordered_field_names<const N: usize, C: PointConvertible<N>>() -> Vec<String>
                 name,
                 ty: _,
                 size: _,
-            } => name.to_string(),
+            } => name.as_ref().into(),
             _ => unreachable!("Fields must be filtered before."),
         })
         .collect()
@@ -492,12 +493,13 @@ impl PointCloud2Msg {
         let field_names = ordered_field_names::<N, C>();
         debug_assert!(field_names.len() == N);
 
-        let layout = KnownLayoutInfo::try_from(C::layout())?;
+        let target_layout = KnownLayoutInfo::try_from(C::layout())?;
-        debug_assert!(field_names.len() <= layout.fields.len());
+        debug_assert!(field_names.len() <= target_layout.fields.len());
+        debug_assert!(self.fields.len() <= target_layout.fields.len());
 
         let mut offset: u32 = 0;
         let mut field_counter = 0;
-        for f in layout.fields.iter() {
+        for f in target_layout.fields.iter() {
             match f {
                 PointField::Field {
                     datatype,
@@ -913,13 +915,13 @@ pub trait PointConvertible<const N: usize>:
     fn layout() -> LayoutDescription;
 }
 
-#[derive(Debug)]
+#[derive(Debug, Clone)]
 enum PointField {
     Padding(u32),
     Field { size: u32, datatype: u8, count: u32 },
 }
 
-#[derive(Debug)]
+#[derive(Debug, Clone)]
 struct KnownLayoutInfo {
     fields: Vec<PointField>,
 }
@@ -1445,4 +1447,4 @@ impl FromBytes for u8 {
     fn from_le_bytes(bytes: PointDataBuffer) -> Self {
         Self::from_le_bytes([bytes[0]])
     }
-}
+}

src/points.rs

@@ -817,4 +817,4 @@ impl PointConvertible<6> for PointXYZNormal {
             LayoutField::padding(8),
         ])
     }
-}
+}

src/prelude.rs

@@ -11,4 +11,4 @@ pub use crate::ros::*;
 pub use rayon::prelude::*;
 
 #[cfg(feature = "derive")]
-pub use rpcl2_derive::*;
+pub use rpcl2_derive::*;