feat: add custom shell prompt and color settings in dev Dockerfile; a…

…dd metadata.yaml for livox MCAP data; update conftest.py for new test fixture

.devcontainer/dev.Dockerfile

@@ -33,6 +33,17 @@ RUN apt-get update && \
     mesa-utils && \
     rm -rf /var/lib/apt/lists/*
 
+# Set up a custom prompt and colored output in the shell
+RUN echo '\
+    RESET="\\[\\e[0m\\]"\n\
+    BOLD="\\[\\e[1m\\]"\n\
+    GREEN="\\[\\e[32m\\]"\n\
+    BLUE="\\[\\e[34m\\]"\n\
+    export PS1="${BLUE}pointcoudset ${BLUE}${BOLD}\\w${RESET} $ "\n\
+    export LS_OPTIONS="--color=auto"\n\
+    eval "$(dircolors -b)"\n\
+    alias ls="ls $LS_OPTIONS"\n\
+    ' >> /root/.bashrc
 
 
 # Switch back to dialog for any ad-hoc use of apt-get

tests/conftest.py

@@ -10,6 +10,7 @@
 ROS1FILE = Path(__file__).parent.absolute() / "testdata/test.bag"
 ROS2FILE = Path(__file__).parent.absolute() / "testdata/ros2"
 ROS2MCAPFILE = Path(__file__).parent.absolute() / "testdata/ros2_mcap"
+ROS2MCAPFILE_LIVOX = Path(__file__).parent.absolute() / "testdata/ros2_mcap_livox"
 
 
 @pytest.fixture()
@@ -37,6 +38,11 @@ def testros2mcap():
     return ROS2MCAPFILE
 
 
+@pytest.fixture()
+def testros2mcap_livox():
+    return ROS2MCAPFILE_LIVOX
+
+
 @pytest.fixture()
 def testlas1():
     return Path(__file__).parent.absolute() / "testdata/las_files/diamond.las"
@@ -103,19 +109,13 @@ def testpointcloud_mini_df():
 
 @pytest.fixture()
 def reference_data_with_zero_dataframe():
-    filename = (
-        Path(__file__).parent.absolute()
-        / "testdata/testpointcloud_withzero_dataframe.pkl"
-    )
+    filename = Path(__file__).parent.absolute() / "testdata/testpointcloud_withzero_dataframe.pkl"
     return pd.read_pickle(filename)
 
 
 @pytest.fixture()
 def reference_pointcloud_withzero_dataframe():
-    filename = (
-        Path(__file__).parent.absolute()
-        / "testdata/testpointcloud_withzero_pointcloud.pkl"
-    )
+    filename = Path(__file__).parent.absolute() / "testdata/testpointcloud_withzero_pointcloud.pkl"
     return pd.read_pickle(filename)
 
 
@@ -130,18 +130,14 @@ def testpointcloud_mini(testpointcloud_mini_df) -> PointCloud:
 
 @pytest.fixture()
 def testpointcloud_mini_real(testpointcloud) -> PointCloud:
-    testpointcloud_mini_real = (
-        testpointcloud.limit("x", -1, 1).limit("y", -1, 1).limit("intensity", 0, 10)
-    )
+    testpointcloud_mini_real = testpointcloud.limit("x", -1, 1).limit("y", -1, 1).limit("intensity", 0, 10)
     testpointcloud_mini_real.timestamp = datetime.datetime(2020, 1, 1, 0, 0)
     return testpointcloud_mini_real
 
 
 @pytest.fixture()
 def testpointcloud_mini_real_later(testpointcloud) -> PointCloud:
-    testpointcloud_mini_real_later = (
-        testpointcloud.limit("x", -1, 1).limit("y", -1, 1).limit("intensity", 0, 10)
-    )
+    testpointcloud_mini_real_later = testpointcloud.limit("x", -1, 1).limit("y", -1, 1).limit("intensity", 0, 10)
     testpointcloud_mini_real_later.timestamp = datetime.datetime(2020, 1, 1, 0, 1)
     return testpointcloud_mini_real_later
 
@@ -162,27 +158,20 @@ def testpointcloud_mini_real_other_original_id(testpointcloud_mini_real) -> Poin
 
 
 @pytest.fixture()
-def testdataset_mini_real(
-    testpointcloud_mini_real, testpointcloud_mini_real_plus1
-) -> Dataset:
+def testdataset_mini_real(testpointcloud_mini_real, testpointcloud_mini_real_plus1) -> Dataset:
     pointclouds = [testpointcloud_mini_real, testpointcloud_mini_real_plus1]
     return Dataset.from_instance("POINTCLOUDS", pointclouds)
 
 
 @pytest.fixture()
-def testdataset_mini_same(
-    testpointcloud_mini_real, testpointcloud_mini_real_later
-) -> Dataset:
+def testdataset_mini_same(testpointcloud_mini_real, testpointcloud_mini_real_later) -> Dataset:
     pointclouds = [testpointcloud_mini_real, testpointcloud_mini_real_later]
     return Dataset.from_instance("POINTCLOUDS", pointclouds)
 
 
 @pytest.fixture()
 def test_kitti() -> Dataset:
-    filename = (
-        Path(__file__).parent.absolute()
-        / "testdata/kitti_velodyne/kitti_2011_09_26_drive_0002_synce"
-    )
+    filename = Path(__file__).parent.absolute() / "testdata/kitti_velodyne/kitti_2011_09_26_drive_0002_synce"
     return Dataset.from_file(filename)
 
 
@@ -196,16 +185,12 @@ def pipeline(pointcloud: PointCloud) -> PointCloud:
 
 @pytest.fixture()
 def testvz6000_1(testlasvz6000_1):
-    return PointCloud.from_file(
-        testlasvz6000_1, timestamp=datetime.datetime(2022, 1, 1, 1, 1, 1)
-    )
+    return PointCloud.from_file(testlasvz6000_1, timestamp=datetime.datetime(2022, 1, 1, 1, 1, 1))
 
 
 @pytest.fixture()
 def testvz6000_2(testlasvz6000_2):
-    return PointCloud.from_file(
-        testlasvz6000_2, timestamp=datetime.datetime(2022, 1, 1, 2, 2, 2)
-    )
+    return PointCloud.from_file(testlasvz6000_2, timestamp=datetime.datetime(2022, 1, 1, 2, 2, 2))
 
 
 @pytest.fixture()
@@ -219,6 +204,6 @@ def test_sets(request):
     return request.getfixturevalue(request.param)
 
 
-@pytest.fixture(params=[ROS1FILE, ROS2FILE, ROS2MCAPFILE])
+@pytest.fixture(params=[ROS1FILE, ROS2FILE, ROS2MCAPFILE, ROS2MCAPFILE_LIVOX])
 def ros_files(request):
     return request.param

tests/testdata/ros2_mcap_livox/metadata.yaml

@@ -0,0 +1,32 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 1341025636
+  starting_time:
+    nanoseconds_since_epoch: 1732109033336708255
+  message_count: 201
+  topics_with_message_count:
+    - topic_metadata:
+        name: /livox/imu
+        type: sensor_msgs/msg/Imu
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\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: 186
+    - topic_metadata:
+        name: /livox/lidar
+        type: sensor_msgs/msg/PointCloud2
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\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: 15
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - testrecord_mcap_AVIA_5_0.mcap
+  files:
+    - path: testrecord_mcap_AVIA_5_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1732109033336708255
+      duration:
+        nanoseconds: 1341025636
+      message_count: 201