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Fix pointcloud2 display not accepting valid points #189

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Feb 1, 2018
Merged

Fix pointcloud2 display not accepting valid points #189

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4 changes: 2 additions & 2 deletions rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud2_display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,13 +86,13 @@ bool PointCloud2Display::hasXYZChannels(
int32_t yi = findChannelIndex(cloud, "y");
int32_t zi = findChannelIndex(cloud, "z");

return xi == -1 || yi == -1 || zi == -1;
return xi != -1 && yi != -1 && zi != -1;
}

bool PointCloud2Display::cloudDataMatchesDimensions(
const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) const
{
return cloud->width * cloud->height * cloud->point_step != cloud->data.size();
return cloud->width * cloud->height * cloud->point_step == cloud->data.size();
}

sensor_msgs::msg::PointCloud2::ConstSharedPtr PointCloud2Display::filterOutInvalidPoints(
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10 changes: 6 additions & 4 deletions rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud2_display.hpp
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Expand Up @@ -85,6 +85,12 @@ class PointCloud2Display : public
sensor_msgs::msg::PointCloud2::ConstSharedPtr filterOutInvalidPoints(
sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) const;

/// Move to public for testing
bool hasXYZChannels(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) const;

/// Move to public for testing
bool cloudDataMatchesDimensions(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) const;

protected:
/** @brief Do initialization. Overridden from RosTopicDisplay. */
void onInitialize() override;
Expand All @@ -97,16 +103,12 @@ class PointCloud2Display : public

std::unique_ptr<PointCloudCommon> point_cloud_common_;

bool cloudDataMatchesDimensions(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) const;

sensor_msgs::msg::PointCloud2::_data_type
filterData(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) const;

bool validateFloatsAtPosition(
sensor_msgs::msg::PointCloud2::_data_type::const_iterator position, Offsets offsets) const;

bool hasXYZChannels(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) const;

Offsets determineOffsets(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) const;
};

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24 changes: 24 additions & 0 deletions ...fault_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud2_display_test.cpp
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Expand Up @@ -57,6 +57,30 @@ TEST(PointCloud2Display, filter_keeps_valid_points) {
ASSERT_EQ(buffer[5], 6);
}

TEST(PointCloud2Display, hasXYZChannels_returns_true_for_valid_pointcloud) {
// just plain Point is ambiguous on macOS
rviz_default_plugins::Point p1 = {1, 2, 3};
rviz_default_plugins::Point p2 = {1, NAN, 3};
auto cloud = createPointCloud2WithPoints(std::vector<rviz_default_plugins::Point>{p1, p2});

PointCloud2Display display;
bool has_xyz = display.hasXYZChannels(cloud);

ASSERT_TRUE(has_xyz);
}

TEST(PointCloud2Display, cloudDataMatchesDimensions_returns_true_for_valid_pointcloud) {
// just plain Point is ambiguous on macOS
rviz_default_plugins::Point p1 = {1, 2, 3};
rviz_default_plugins::Point p2 = {1, NAN, 3};
auto cloud = createPointCloud2WithPoints(std::vector<rviz_default_plugins::Point>{p1, p2});

PointCloud2Display display;
bool matches_dimensions = display.cloudDataMatchesDimensions(cloud);

ASSERT_TRUE(matches_dimensions);
}

TEST(PointCloud2Display, filter_removes_invalid_point) {
// just plain Point is ambiguous on macOS
rviz_default_plugins::Point p1 = {1, 2, 3};
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