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add "name" field check
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cleaning

Signed-off-by: Vincent Richard <richard-v@macnica.co.jp>
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@VRichardJP
VRichardJP committed Apr 8, 2023
1 parent ae5ae46 commit 66ae567
Showing 1 changed file with 26 additions and 13 deletions.
39 changes: 26 additions & 13 deletions sensing/pointcloud_preprocessor/src/utility/utilities.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -158,19 +158,23 @@ bool is_data_layout_compatible_with_PointXYZI(const sensor_msgs::msg::PointCloud
}
bool same_layout = true;
const auto & field_x = input.fields.at(static_cast<size_t>(PointIndex::X));
same_layout &= offsetof(PointXYZI, x) == field_x.offset;
same_layout &= field_x.name == "x";
same_layout &= field_x.offset == offsetof(PointXYZI, x);
same_layout &= field_x.datatype == sensor_msgs::msg::PointField::FLOAT32;
same_layout &= field_x.count == 1;
const auto & field_y = input.fields.at(static_cast<size_t>(PointIndex::Y));
same_layout &= offsetof(PointXYZI, y) == field_y.offset;
same_layout &= field_y.name == "y";
same_layout &= field_y.offset == offsetof(PointXYZI, y);
same_layout &= field_y.datatype == sensor_msgs::msg::PointField::FLOAT32;
same_layout &= field_y.count == 1;
const auto & field_z = input.fields.at(static_cast<size_t>(PointIndex::Z));
same_layout &= offsetof(PointXYZI, z) == field_z.offset;
same_layout &= field_z.name == "z";
same_layout &= field_z.offset == offsetof(PointXYZI, z);
same_layout &= field_z.datatype == sensor_msgs::msg::PointField::FLOAT32;
same_layout &= field_z.count == 1;
const auto & field_intensity = input.fields.at(static_cast<size_t>(PointIndex::Intensity));
same_layout &= offsetof(PointXYZI, intensity) == field_intensity.offset;
same_layout &= field_intensity.name == "intensity";
same_layout &= field_intensity.offset == offsetof(PointXYZI, intensity);
same_layout &= field_intensity.datatype == sensor_msgs::msg::PointField::FLOAT32;
same_layout &= field_intensity.count == 1;
return same_layout;
Expand All @@ -185,39 +189,48 @@ bool is_data_layout_compatible_with_PointXYZIRADRT(const sensor_msgs::msg::Point
}
bool same_layout = true;
const auto & field_x = input.fields.at(static_cast<size_t>(PointIndex::X));
same_layout &= offsetof(PointXYZIRADRT, x) == field_x.offset;
same_layout &= field_x.name == "x";
same_layout &= field_x.offset == offsetof(PointXYZIRADRT, x);
same_layout &= field_x.datatype == sensor_msgs::msg::PointField::FLOAT32;
same_layout &= field_x.count == 1;
const auto & field_y = input.fields.at(static_cast<size_t>(PointIndex::Y));
same_layout &= offsetof(PointXYZIRADRT, y) == field_y.offset;
same_layout &= field_y.name == "y";
same_layout &= field_y.offset == offsetof(PointXYZIRADRT, y);
same_layout &= field_y.datatype == sensor_msgs::msg::PointField::FLOAT32;
same_layout &= field_y.count == 1;
const auto & field_z = input.fields.at(static_cast<size_t>(PointIndex::Z));
same_layout &= offsetof(PointXYZIRADRT, z) == field_z.offset;
same_layout &= field_z.name == "z";
same_layout &= field_z.offset == offsetof(PointXYZIRADRT, z);
same_layout &= field_z.datatype == sensor_msgs::msg::PointField::FLOAT32;
same_layout &= field_z.count == 1;
const auto & field_intensity = input.fields.at(static_cast<size_t>(PointIndex::Intensity));
same_layout &= offsetof(PointXYZIRADRT, intensity) == field_intensity.offset;
same_layout &= field_intensity.name == "intensity";
same_layout &= field_intensity.offset == offsetof(PointXYZIRADRT, intensity);
same_layout &= field_intensity.datatype == sensor_msgs::msg::PointField::FLOAT32;
same_layout &= field_intensity.count == 1;
const auto & field_ring = input.fields.at(static_cast<size_t>(PointIndex::Ring));
same_layout &= offsetof(PointXYZIRADRT, ring) == field_ring.offset;
same_layout &= field_ring.name == "ring";
same_layout &= field_ring.offset == offsetof(PointXYZIRADRT, ring);
same_layout &= field_ring.datatype == sensor_msgs::msg::PointField::UINT16;
same_layout &= field_ring.count == 1;
const auto & field_azimuth = input.fields.at(static_cast<size_t>(PointIndex::Azimuth));
same_layout &= offsetof(PointXYZIRADRT, azimuth) == field_azimuth.offset;
same_layout &= field_azimuth.name == "azimuth";
same_layout &= field_azimuth.offset == offsetof(PointXYZIRADRT, azimuth);
same_layout &= field_azimuth.datatype == sensor_msgs::msg::PointField::FLOAT32;
same_layout &= field_azimuth.count == 1;
const auto & field_distance = input.fields.at(static_cast<size_t>(PointIndex::Distance));
same_layout &= offsetof(PointXYZIRADRT, distance) == field_distance.offset;
same_layout &= field_distance.name == "distance";
same_layout &= field_distance.offset == offsetof(PointXYZIRADRT, distance);
same_layout &= field_distance.datatype == sensor_msgs::msg::PointField::FLOAT32;
same_layout &= field_distance.count == 1;
const auto & field_return_type = input.fields.at(static_cast<size_t>(PointIndex::ReturnType));
same_layout &= offsetof(PointXYZIRADRT, return_type) == field_return_type.offset;
same_layout &= field_return_type.name == "return_type";
same_layout &= field_return_type.offset == offsetof(PointXYZIRADRT, return_type);
same_layout &= field_return_type.datatype == sensor_msgs::msg::PointField::UINT8;
same_layout &= field_return_type.count == 1;
const auto & field_time_stamp = input.fields.at(static_cast<size_t>(PointIndex::TimeStamp));
same_layout &= offsetof(PointXYZIRADRT, time_stamp) == field_time_stamp.offset;
same_layout &= field_time_stamp.name == "time_stamp";
same_layout &= field_time_stamp.offset == offsetof(PointXYZIRADRT, time_stamp);
same_layout &= field_time_stamp.datatype == sensor_msgs::msg::PointField::FLOAT64;
same_layout &= field_time_stamp.count == 1;
return same_layout;
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