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Update CI #47

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merged 3 commits into from
May 16, 2024
Merged

Update CI #47

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434bdfa
Update CI
ahcorde May 15, 2024
6d71757
make linters happy
ahcorde May 15, 2024
7cff916
Removed warning
ahcorde May 15, 2024
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4 changes: 2 additions & 2 deletions .github/workflows/ros2-ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,13 +10,13 @@ jobs:
fail-fast: false
matrix:
include:
- docker-image: "ubuntu:22.04"
- docker-image: "ubuntu:24.04"
ros-distro: "rolling"
container:
image: ${{ matrix.docker-image }}
steps:
- name: Checkout
uses: actions/checkout@v2
uses: actions/checkout@v4
- name: Build and Test
run: .github/workflows/build-and-test.sh
env:
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78 changes: 39 additions & 39 deletions draco_point_cloud_transport/include/draco_point_cloud_transport/cloud.hpp
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Expand Up @@ -167,54 +167,54 @@ void copyChannelData(
* Points for which FILTER is true are part of the final pointcloud.
*/
#define CREATE_FILTERED_CLOUD(IN, OUT, KEEP_ORGANIZED, FILTER) { \
const auto inputIsOrganized = (IN).height > 1; \
const auto outIsOrganized = (KEEP_ORGANIZED) && inputIsOrganized; \
const auto inputIsOrganized = (IN).height > 1; \
const auto outIsOrganized = (KEEP_ORGANIZED) && inputIsOrganized; \
\
(OUT).header = (IN).header; \
(OUT).fields = (IN).fields; \
(OUT).point_step = (IN).point_step; \
(OUT).height = outIsOrganized ? (IN).height : 1; \
(OUT).width = outIsOrganized ? (IN).width : 0; \
(OUT).header = (IN).header; \
(OUT).fields = (IN).fields; \
(OUT).point_step = (IN).point_step; \
(OUT).height = outIsOrganized ? (IN).height : 1; \
(OUT).width = outIsOrganized ? (IN).width : 0; \
\
(OUT).data.resize(0); \
(OUT).data.reserve((IN).data.size()); \
(OUT).data.resize(0); \
(OUT).data.reserve((IN).data.size()); \
\
::cras::CloudConstIter x_it((IN), "x"); \
::cras::CloudConstIter y_it((IN), "y"); \
::cras::CloudConstIter z_it((IN), "z"); \
::cras::CloudConstIter x_it((IN), "x"); \
::cras::CloudConstIter y_it((IN), "y"); \
::cras::CloudConstIter z_it((IN), "z"); \
\
const auto numPoints = ::cras::numPoints(IN); \
const auto numPoints = ::cras::numPoints(IN); \
\
if (!outIsOrganized) { \
for (size_t i = 0; i < numPoints; ++i, ++x_it, ++y_it, ++z_it) { \
if (FILTER) { \
size_t from = (i / (IN).width) * (IN).row_step + (i % (IN).width) * (IN).point_step; \
size_t to = from + (IN).point_step; \
(OUT).data.insert( \
(OUT).data.end(), (IN).data.begin() + from, \
(IN).data.begin() + to); \
(OUT).width++; \
} \
} \
(OUT).is_dense = true; \
} else { \
(OUT).data.insert((OUT).data.end(), (IN).data.begin(), (IN).data.end()); \
if (!outIsOrganized) { \
for (size_t i = 0; i < numPoints; ++i, ++x_it, ++y_it, ++z_it) { \
if (FILTER) { \
size_t from = (i / (IN).width) * (IN).row_step + (i % (IN).width) * (IN).point_step; \
size_t to = from + (IN).point_step; \
(OUT).data.insert( \
(OUT).data.end(), (IN).data.begin() + from, \
(IN).data.begin() + to); \
(OUT).width++; \
} \
} \
(OUT).is_dense = true; \
} else { \
(OUT).data.insert((OUT).data.end(), (IN).data.begin(), (IN).data.end()); \
\
::cras::CloudIter x_out_it((OUT), "x"); \
::cras::CloudIter y_out_it((OUT), "y"); \
::cras::CloudIter z_out_it((OUT), "z"); \
const auto invalidValue = std::numeric_limits<float>::quiet_NaN(); \
::cras::CloudIter x_out_it((OUT), "x"); \
::cras::CloudIter y_out_it((OUT), "y"); \
::cras::CloudIter z_out_it((OUT), "z"); \
const auto invalidValue = std::numeric_limits<float>::quiet_NaN(); \
\
for (size_t i = 0; i < numPoints; \
++i, ++x_it, ++y_it, ++z_it, ++x_out_it, ++y_out_it, ++z_out_it) { \
if (!(FILTER)) { \
*x_out_it = *y_out_it = *z_out_it = invalidValue; \
(OUT).is_dense = false; \
} \
} \
for (size_t i = 0; i < numPoints; \
++i, ++x_it, ++y_it, ++z_it, ++x_out_it, ++y_out_it, ++z_out_it) { \
if (!(FILTER)) { \
*x_out_it = *y_out_it = *z_out_it = invalidValue; \
(OUT).is_dense = false; \
} \
} \
} \
\
(OUT).row_step = (OUT).width * (OUT).point_step; \
(OUT).row_step = (OUT).width * (OUT).point_step; \
}
} // namespace cras

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4 changes: 2 additions & 2 deletions draco_point_cloud_transport/src/cloud.cpp
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Expand Up @@ -149,9 +149,9 @@ void GenericCloudIterator<T>::copyData(const GenericCloudIterator<T> & otherIter

// explicitly instantiate
template class GenericCloudIteratorBase<unsigned char, unsigned char, unsigned char,
sensor_msgs::msg::PointCloud2, GenericCloudIterator>;
sensor_msgs::msg::PointCloud2, GenericCloudIterator>;
template class GenericCloudIteratorBase<unsigned char, const unsigned char, const unsigned char,
const sensor_msgs::msg::PointCloud2, GenericCloudConstIterator>;
const sensor_msgs::msg::PointCloud2, GenericCloudConstIterator>;

template class GenericCloudIterator<>;
template class GenericCloudConstIterator<>;
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2 changes: 1 addition & 1 deletion zstd_point_cloud_transport/src/zstd_subscriber.cpp
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Expand Up @@ -67,7 +67,7 @@ ZstdSubscriber::DecodeResult ZstdSubscriber::decodeTyped(
auto result = std::make_shared<sensor_msgs::msg::PointCloud2>();

auto const est_decomp_size =
ZSTD_getDecompressedSize(&msg.compressed_data[0], msg.compressed_data.size());
ZSTD_getFrameContentSize(&msg.compressed_data[0], msg.compressed_data.size());
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For posterity, just calling out this change

unsigned long long ZSTD_getDecompressedSize(const void* src, size_t srcSize);
  NOTE: This function is now obsolete, in favor of ZSTD_getFrameContentSize().
  Both functions work the same way, but ZSTD_getDecompressedSize() blends
  "empty", "unknown" and "error" results to the same return value (0),
  while ZSTD_getFrameContentSize() gives them separate return values.
 @return : decompressed size of `src` frame content _if known and not empty_, 0 otherwise.


result->data.resize(est_decomp_size);

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