Added test pcd for xt16

Signed-off-by: jemmmel <[email protected]>
tier4 · Dec 2, 2024 · 0a2c921 · 0a2c921
1 parent c74e77b
commit 0a2c921
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Showing 5 changed files with 30 additions and 4 deletions.
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_xt16.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_xt16.hpp
@@ -55,7 +55,7 @@ class PandarXT16 : public HesaiSensor<hesai_packet::PacketXT16>
 public:
   static constexpr float min_range = 0.05f;
   static constexpr float max_range = 120.0f;
-  static constexpr size_t max_scan_buffer_points = 128000;
+  static constexpr size_t max_scan_buffer_points = 256000;
 
   int get_packet_relative_point_time_offset(
     uint32_t block_id, uint32_t channel_id, const packet_t & packet) override

diff --git a/nebula_tests/data/hesai/xt16/1732848127890747768/1732848127890747768_0.db3 b/nebula_tests/data/hesai/xt16/1732848127890747768/1732848127890747768_0.db3
diff --git a/nebula_tests/data/hesai/xt16/1732848127890747768/metadata.yaml b/nebula_tests/data/hesai/xt16/1732848127890747768/metadata.yaml
@@ -0,0 +1,26 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: sqlite3
+  duration:
+    nanoseconds: 302526840
+  starting_time:
+    nanoseconds_since_epoch: 1732848127890747768
+  message_count: 4
+  topics_with_message_count:
+    - topic_metadata:
+        name: /pandar_packets
+        type: pandar_msgs/msg/PandarScan
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 5\n  reliability: 2\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 4
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 1732848127890747768_0.db3
+  files:
+    - path: 1732848127890747768_0.db3
+      starting_time:
+        nanoseconds_since_epoch: 1732848127890747768
+      duration:
+        nanoseconds: 302526840
+      message_count: 4
diff --git a/nebula_tests/data/hesai/xt16/1732848128093928016.pcd b/nebula_tests/data/hesai/xt16/1732848128093928016.pcd
diff --git a/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp b/nebula_tests/hesai/hesai_ros_decoder_test_main.cpp
@@ -24,7 +24,7 @@
 namespace nebula::test
 {
 
-const nebula::ros::HesaiRosDecoderTestParams TEST_CONFIGS[8] = {
+const nebula::ros::HesaiRosDecoderTestParams TEST_CONFIGS[9] = {
   {"Pandar40P", "Dual", "Pandar40P.csv", "40p/1673400149412331409", "hesai", 0, 0.0, 0., 360., 0.3f,
    200.f},
   {"Pandar64", "Dual", "Pandar64.csv", "64/1673403880599376836", "hesai", 0, 0.0, 0., 360., 0.3f,
@@ -33,8 +33,8 @@ const nebula::ros::HesaiRosDecoderTestParams TEST_CONFIGS[8] = {
    150.0, 30., 150., 1.f, 180.f},
   {"PandarQT64", "Dual", "PandarQT64.csv", "qt64/1673401195788312575", "hesai", 0, 0.0, 0., 360.,
    0.1f, 60.f},
-  // {"PandarXT16", "Dual", "PandarXT16.csv", "xt32/1673400677802009732", "hesai", 0, 0.0, 0., 360.,
-  //  0.05f, 120.f},
+  {"PandarXT16", "Dual", "PandarXT16.csv", "xt16/1732848127890747768", "hesai", 0, 0.0, 0., 360.,
+   0.05f, 120.f},
   {"PandarXT32", "Dual", "PandarXT32.csv", "xt32/1673400677802009732", "hesai", 0, 0.0, 0., 360.,
    0.05f, 120.f},
   {"PandarXT32M", "LastStrongest", "PandarXT32M.csv", "xt32m/1660893203042895158", "hesai", 0, 0.0,