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code style only: wrap after open parenthesis if not in one line (#52)
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Signed-off-by: Dirk Thomas <[email protected]>
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@dirk-thomas
dirk-thomas authored Feb 4, 2020
1 parent c2bdad5 commit f59e3fe
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Showing 3 changed files with 54 additions and 32 deletions.
4 changes: 2 additions & 2 deletions include/laser_geometry/laser_geometry.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -159,8 +159,8 @@ class LaserProjection
double range_cutoff = -1.0,
int channel_options = channel_option::Default)
{
transformLaserScanToPointCloud_(target_frame, scan_in, cloud_out, tf, range_cutoff,
channel_options);
transformLaserScanToPointCloud_(
target_frame, scan_in, cloud_out, tf, range_cutoff, channel_options);
}

private:
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13 changes: 6 additions & 7 deletions src/laser_geometry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -433,14 +433,12 @@ void LaserProjection::transformLaserScanToPointCloud_(

std::chrono::nanoseconds start(start_time.nanoseconds());
std::chrono::time_point<std::chrono::system_clock, std::chrono::nanoseconds> st(start);
geometry_msgs::msg::TransformStamped start_transform = tf.lookupTransform(target_frame,
scan_in.header.frame_id,
st);
geometry_msgs::msg::TransformStamped start_transform = tf.lookupTransform(
target_frame, scan_in.header.frame_id, st);
std::chrono::nanoseconds end(end_time.nanoseconds());
std::chrono::time_point<std::chrono::system_clock, std::chrono::nanoseconds> e(end);
geometry_msgs::msg::TransformStamped end_transform = tf.lookupTransform(target_frame,
scan_in.header.frame_id,
e);
geometry_msgs::msg::TransformStamped end_transform = tf.lookupTransform(
target_frame, scan_in.header.frame_id, e);

tf2::Quaternion quat_start(start_transform.transform.rotation.x,
start_transform.transform.rotation.y,
Expand All @@ -457,7 +455,8 @@ void LaserProjection::transformLaserScanToPointCloud_(
tf2::Vector3 origin_end(end_transform.transform.translation.x,
end_transform.transform.translation.y,
end_transform.transform.translation.z);
transformLaserScanToPointCloud_(target_frame, scan_in, cloud_out,
transformLaserScanToPointCloud_(
target_frame, scan_in, cloud_out,
quat_start, origin_start,
quat_end, origin_end,
range_cutoff,
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69 changes: 46 additions & 23 deletions test/projection_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -139,7 +139,8 @@ TEST(laser_geometry, projectLaser2) {
for (auto max_angle : max_angles) {
for (auto angle_increment : angle_increments) {
for (auto scan_time : scan_times) {
options.push_back(ScanOptions(
options.push_back(
ScanOptions(
range, intensity, min_angle, max_angle, angle_increment, scan_time));
}
}
Expand All @@ -162,17 +163,20 @@ TEST(laser_geometry, projectLaser2) {

projector.projectLaser(scan, cloud_out, -1.0);
EXPECT_EQ(cloud_out.fields.size(), 5u);
projector.projectLaser(scan, cloud_out, -1.0,
projector.projectLaser(
scan, cloud_out, -1.0,
laser_geometry::channel_option::Intensity |
laser_geometry::channel_option::Index);
EXPECT_EQ(cloud_out.fields.size(), 5u);

projector.projectLaser(scan, cloud_out, -1.0,
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(), 6u);

projector.projectLaser(scan, cloud_out, -1.0,
projector.projectLaser(
scan, cloud_out, -1.0,
laser_geometry::channel_option::Intensity |
laser_geometry::channel_option::Index |
laser_geometry::channel_option::Distance |
Expand Down Expand Up @@ -210,22 +214,28 @@ TEST(laser_geometry, projectLaser2) {
}

for (unsigned int i = 0; i < cloud_out.width; i++) {
EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + x_offset),
EXPECT_NEAR(
cloudData<float>(cloud_out, i * cloud_out.point_step + x_offset),
static_cast<float>(static_cast<double>(scan.ranges[i]) *
cos(static_cast<double>(scan.angle_min) + i * static_cast<double>(scan.angle_increment))),
tolerance);
EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + y_offset),
EXPECT_NEAR(
cloudData<float>(cloud_out, i * cloud_out.point_step + y_offset),
static_cast<float>(static_cast<double>(scan.ranges[i]) *
sin(static_cast<double>(scan.angle_min) + i * static_cast<double>(scan.angle_increment))),
tolerance);
EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + z_offset), 0, tolerance);
EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + intensity_offset),
EXPECT_NEAR(
cloudData<float>(cloud_out, i * cloud_out.point_step + intensity_offset),
scan.intensities[i], tolerance); // intensity
EXPECT_NEAR(cloudData<uint32_t>(cloud_out, i * cloud_out.point_step + index_offset), i,
EXPECT_NEAR(
cloudData<uint32_t>(cloud_out, i * cloud_out.point_step + index_offset), i,
tolerance); // index
EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + distance_offset),
EXPECT_NEAR(
cloudData<float>(cloud_out, i * cloud_out.point_step + distance_offset),
scan.ranges[i], tolerance); // ranges
EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + stamps_offset),
EXPECT_NEAR(
cloudData<float>(cloud_out, i * cloud_out.point_step + stamps_offset),
(float)i * scan.time_increment, tolerance); // timestamps
}
} catch (const BuildScanException & ex) {
Expand Down Expand Up @@ -291,7 +301,8 @@ TEST(laser_geometry, transformLaserScanToPointCloud2) {
for (auto max_angle : max_angles) {
for (auto angle_increment : angle_increments) {
for (auto scan_time : scan_times) {
options.push_back(ScanOptions(
options.push_back(
ScanOptions(
range, intensity, min_angle, max_angle, angle_increment, scan_time));
}
}
Expand All @@ -309,29 +320,35 @@ TEST(laser_geometry, transformLaserScanToPointCloud2) {
scan.header.frame_id = "laser_frame";

sensor_msgs::msg::PointCloud2 cloud_out;
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
projector.transformLaserScanToPointCloud(
scan.header.frame_id, scan, cloud_out, tf2, -1.0,
laser_geometry::channel_option::None);
EXPECT_EQ(cloud_out.fields.size(), 3u);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
projector.transformLaserScanToPointCloud(
scan.header.frame_id, scan, cloud_out, tf2, -1.0,
laser_geometry::channel_option::Index);
EXPECT_EQ(cloud_out.fields.size(), 4u);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
projector.transformLaserScanToPointCloud(
scan.header.frame_id, scan, cloud_out, tf2, -1.0,
laser_geometry::channel_option::Intensity);
EXPECT_EQ(cloud_out.fields.size(), 4u);

projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2);
EXPECT_EQ(cloud_out.fields.size(), 5u);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
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(), 5u);

projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
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(), 6u);

projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
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);
Expand Down Expand Up @@ -369,22 +386,28 @@ TEST(laser_geometry, transformLaserScanToPointCloud2) {
}

for (unsigned int i = 0; i < cloud_out.width; i++) {
EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + x_offset),
EXPECT_NEAR(
cloudData<float>(cloud_out, i * cloud_out.point_step + x_offset),
static_cast<float>(static_cast<double>(scan.ranges[i]) *
cos(static_cast<double>(scan.angle_min) + i * static_cast<double>(scan.angle_increment))),
tolerance);
EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + y_offset),
EXPECT_NEAR(
cloudData<float>(cloud_out, i * cloud_out.point_step + y_offset),
static_cast<float>(static_cast<double>(scan.ranges[i]) *
sin(static_cast<double>(scan.angle_min) + i * static_cast<double>(scan.angle_increment))),
tolerance);
EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + z_offset), 0, tolerance);
EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + intensity_offset),
EXPECT_NEAR(
cloudData<float>(cloud_out, i * cloud_out.point_step + intensity_offset),
scan.intensities[i], tolerance); // intensity
EXPECT_NEAR(cloudData<uint32_t>(cloud_out, i * cloud_out.point_step + index_offset), i,
EXPECT_NEAR(
cloudData<uint32_t>(cloud_out, i * cloud_out.point_step + index_offset), i,
tolerance); // index
EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + distance_offset),
EXPECT_NEAR(
cloudData<float>(cloud_out, i * cloud_out.point_step + distance_offset),
scan.ranges[i], tolerance); // ranges
EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + stamps_offset),
EXPECT_NEAR(
cloudData<float>(cloud_out, i * cloud_out.point_step + stamps_offset),
(float)i * scan.time_increment, tolerance); // timestamps
}
} catch (BuildScanException & ex) {
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