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style(pre-commit): autofix
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@pre-commit-ci @VRichardJP
pre-commit-ci[bot] authored and VRichardJP committed Apr 8, 2023
1 parent 04d12c8 commit ae5ae46
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Showing 2 changed files with 19 additions and 18 deletions.
6 changes: 4 additions & 2 deletions sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/utility/utilities.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -78,10 +78,12 @@ void remove_polygon_cgal_from_cloud(
bool point_within_cgal_polys(
const pcl::PointXYZ & point, const std::vector<PolygonCgal> & polyline_polygons);

/** \brief Return whether the input PointCloud2 data has the same layout than PointXYZI. That is to say whether you can memcpy from the PointCloud2 data buffer to a PointXYZI */
/** \brief Return whether the input PointCloud2 data has the same layout than PointXYZI. That is to
* say whether you can memcpy from the PointCloud2 data buffer to a PointXYZI */
bool is_data_layout_compatible_with_PointXYZI(const sensor_msgs::msg::PointCloud2 & input);

/** \brief Return whether the input PointCloud2 data has the same layout than PointXYZIRADRT. That is to say whether you can memcpy from the PointCloud2 data buffer to a PointXYZIRADRT */
/** \brief Return whether the input PointCloud2 data has the same layout than PointXYZIRADRT. That
* is to say whether you can memcpy from the PointCloud2 data buffer to a PointXYZIRADRT */
bool is_data_layout_compatible_with_PointXYZIRADRT(const sensor_msgs::msg::PointCloud2 & input);

} // namespace pointcloud_preprocessor::utils
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31 changes: 15 additions & 16 deletions sensing/pointcloud_preprocessor/src/utility/utilities.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -149,28 +149,27 @@ bool point_within_cgal_polys(
return false;
}


bool is_data_layout_compatible_with_PointXYZI(const sensor_msgs::msg::PointCloud2 & input)
{
using autoware_point_types::PointXYZI;
using autoware_point_types::PointIndex;
using autoware_point_types::PointXYZI;
if (input.fields.size() < 4) {
return false;
}
bool same_layout = true;
const auto &field_x = input.fields.at(static_cast<size_t>(PointIndex::X));
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.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));
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.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));
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.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));
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.datatype == sensor_msgs::msg::PointField::FLOAT32;
same_layout &= field_intensity.count == 1;
Expand All @@ -179,45 +178,45 @@ bool is_data_layout_compatible_with_PointXYZI(const sensor_msgs::msg::PointCloud

bool is_data_layout_compatible_with_PointXYZIRADRT(const sensor_msgs::msg::PointCloud2 & input)
{
using autoware_point_types::PointXYZIRADRT;
using autoware_point_types::PointIndex;
using autoware_point_types::PointXYZIRADRT;
if (input.fields.size() < 9) {
return false;
}
bool same_layout = true;
const auto &field_x = input.fields.at(static_cast<size_t>(PointIndex::X));
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.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));
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.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));
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.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));
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.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));
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.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));
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.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));
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.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));
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.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));
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.datatype == sensor_msgs::msg::PointField::FLOAT64;
same_layout &= field_time_stamp.count == 1;
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