merge

.github/workflows/rclrs_jazzy.yml

@@ -0,0 +1,21 @@
+name: rclrs_jazzy
+
+on:
+  push:
+    branches:
+      - rclrs
+  pull_request:
+    branches:
+      - rclrs
+  workflow_dispatch:
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  tests_jazzy:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - run: docker build . --file ./tests/Dockerfile_rclrs_jazzy --tag rclrs_jazzy
+      - run: docker run rclrs_jazzy cargo test --features derive,nalgebra,rayon

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "ros_pointcloud2"
-version = "0.5.0-rc.1"
+version = "0.5.0"
 edition = "2021"
 authors = ["Christopher Sieh <stelzo@steado.de>"]
 description = "Customizable conversions for working with sensor_msgs/PointCloud2."
@@ -32,11 +32,11 @@ rust-version = "1.63"
 [dependencies]
 rosrust_msg = { version = "0.1", optional = true }
 rosrust = { version = "0.9.11", optional = true }
-r2r = { version = "0.8.4", optional = true }
+r2r = { version = "0.9", optional = true }
 rayon = { version = "1", optional = true }
-nalgebra = { version = "0.32.5", optional = true, default-features = false }
+nalgebra = { version = "0.33", optional = true, default-features = false }
 rpcl2-derive = { version = "0.3", optional = true }
-type-layout = { version = "0.2", package = "type-layout-syn2", optional = true }
+memoffset = { version = "0.9", optional = true }
 
 sensor_msgs = { version = "*", optional = true }
 std_msgs = { version = "*", optional = true }
@@ -45,17 +45,18 @@ builtin_interfaces = { version = "*", optional = true }
 [dev-dependencies]
 rand = "0.8"
 criterion = { version = "0.5", features = ["html_reports"] }
+pretty_assertions = "1.0"
 
 [features]
 rclrs_msg = ["dep:sensor_msgs", "dep:std_msgs", "dep:builtin_interfaces"]
 rosrust_msg = ["dep:rosrust_msg", "dep:rosrust"]
 r2r_msg = ["dep:r2r"]
 rayon = ["dep:rayon"]
-derive = ["dep:rpcl2-derive", "dep:type-layout"]
+derive = ["dep:rpcl2-derive", "dep:memoffset"]
 nalgebra = ["dep:nalgebra"]
 std = ["nalgebra/std"]
 
-default = ["std", "derive", "rclrs_msg"]
+default = ["std", "rclrs_msg"]
 
 [package.metadata.docs.rs]
 features = ["derive", "nalgebra", "rayon"]

README.md

@@ -7,7 +7,7 @@
 
 ros_pointcloud2 uses its own type for the message `PointCloud2Msg` to keep the library framework agnostic. ROS1 and ROS2 are supported with feature flags.
 
-Get started with the example below, check out the other use cases in the `examples` folder or see the [Documentation](https://docs.rs/ros_pointcloud2/0.5.0-rc.1/) for a complete guide.
+Get started with the example below, check out the other use cases in the `examples` folder or see the [Documentation](https://docs.rs/ros_pointcloud2/0.5.0/) for a complete guide.
 
 ## Quickstart
 
@@ -57,9 +57,9 @@ You can use `rosrust` and `r2r` by enabling the respective feature:
 
 ```toml
 [dependencies]
-ros_pointcloud2 = { version = "*", features = ["r2r_msg", "derive"]}
+ros_pointcloud2 = { version = "*", features = ["r2r_msg"]}
 # or
-ros_pointcloud2 = { version = "*", features = ["rosrust_msg", "derive"]}
+ros_pointcloud2 = { version = "*", features = ["rosrust_msg"]}
 ```
 
 ### rclrs (ros2_rust)
@@ -68,7 +68,7 @@ Features do not work properly with `rcrls` because the messages are linked exter
 
 ```toml
 [dependencies]
-ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.5.0-rc.1_rclrs" }
+ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.5.0_rclrs" }
 ```
 
 Also, indicate the following dependencies to your linker inside the `package.xml` of your package.
@@ -84,32 +84,21 @@ Please open an issue or PR if you need other integrations.
 ## Performance
 
 This library offers a speed up when compared to PointCloudLibrary (PCL) conversions but the specific factor depends heavily on the use case and system.
-The `_vec` conversions are on average ~6x faster than PCL while the single core iteration `_iter` functions are around ~2x faster.
-Parallelization with `_par_iter` gives a ~9x speed up compared to an OpenMP accelerated PCL pipeline.
-
-The results are measured on an Intel i7-14700 with benchmarks from [this repository](https://github.com/stelzo/ros_pcl_conv_bench).
+See [this repository](https://github.com/stelzo/ros_pcl_conv_bench) for a detailed benchmark.
 
 For minimizing the conversion overhead in general, always use the functions that best fit your use case.
 
-## `no_std` Environments
-
-The `_iter` conversions are compatible with `#[no_std]` environments if an allocator is provided. This is due to the fact that names for point fields do not have a maximum length, and PointCloud2 data vectors can have arbitrary sizes. Use `default-features = false` to disable std for this crate. Only `nalgebra` can be added as an additional feature in this case.
-
-## License
-
-Licensed under either of
-
-- Apache License, Version 2.0, ([LICENSE-APACHE](LICENSE-APACHE) or http://www.apache.org/licenses/LICENSE-2.0)
-- MIT license ([LICENSE-MIT](LICENSE-MIT) or http://opensource.org/licenses/MIT)
-
-at your option.
-
-### type-layout
-
-For compatibility reasons, a patched version of `type-layout` is included in this repository. The original crate can be found [here](https://crates.io/crates/type-layout). After the patch is applied on the original `type-layout` crate ([PR](https://github.com/LPGhatguy/type-layout/pull/9)), the local dependency will be changed to the original crate.
+### License
 
-`type-layout` is licensed under MIT or Apache-2.0 and Copyright by Lucien Greathouse. The changes are highlighted in the diff of the PR.
+<sup>
+Licensed under either of <a href="LICENSE-APACHE">Apache License, Version
+2.0</a> or <a href="LICENSE-MIT">MIT license</a> at your option.
+</sup>
 
-### Contribution
+<br>
 
-Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.
+<sub>
+Unless you explicitly state otherwise, any contribution intentionally submitted
+for inclusion in this crate by you, as defined in the Apache-2.0 license, shall
+be dual licensed as above, without any additional terms or conditions.
+</sub>

src/iterator.rs

@@ -1,6 +1,6 @@
 //! Iterator implementations for [`PointCloud2Msg`] including a parallel iterator for rayon.
 use crate::{
-    Endian, FieldDatatype, Fields, MsgConversionError, PointCloud2Msg, PointConvertible, PointData,
+    Endian, FieldDatatype, MsgConversionError, PointCloud2Msg, PointConvertible, PointData,
     RPCL2Point,
 };
 
@@ -27,12 +27,12 @@ use alloc::vec::Vec;
 ///
 pub struct PointCloudIterator<const N: usize, C>
 where
-    C: Fields<N>,
+    C: PointConvertible<N>,
 {
     iteration: usize,
     iteration_back: usize,
     data: ByteBufferView<N>,
-    phantom_c: core::marker::PhantomData<C>, // internally used for pdata names array
+    _phantom: core::marker::PhantomData<C>,
 }
 
 #[cfg(feature = "rayon")]
@@ -250,7 +250,7 @@ impl<const N: usize> ByteBufferView<N> {
 
 impl<const N: usize, C> TryFrom<PointCloud2Msg> for PointCloudIterator<N, C>
 where
-    C: Fields<N>,
+    C: PointConvertible<N>,
 {
     type Error = MsgConversionError;
 
@@ -262,8 +262,10 @@ where
     fn try_from(cloud: PointCloud2Msg) -> Result<Self, Self::Error> {
         let mut pdata_with_offsets = vec![(String::default(), FieldDatatype::default(), 0); N];
 
-        let not_found_fieldnames = C::field_names_ordered()
-            .into_iter()
+        let fields_only = crate::ordered_field_names::<N, C>();
+
+        let not_found_fieldnames = fields_only
+            .iter()
             .map(|name| {
                 let found = cloud.fields.iter().any(|field| field.name == *name);
                 (name, found)
@@ -279,9 +281,8 @@ where
             return Err(MsgConversionError::FieldsNotFound(names_not_found));
         }
 
-        let ordered_fieldnames = C::field_names_ordered();
         for (field, with_offset) in cloud.fields.iter().zip(pdata_with_offsets.iter_mut()) {
-            if ordered_fieldnames.contains(&field.name.as_str()) {
+            if fields_only.contains(&field.name) {
                 *with_offset = (
                     field.name.clone(),
                     field.datatype.try_into()?,
@@ -318,9 +319,16 @@ where
             return Err(MsgConversionError::DataLengthMismatch);
         }
 
-        let last_offset = offsets.last().expect("Dimensionality is 0.");
+        let last_offset = match offsets.last() {
+            Some(offset) => *offset,
+            None => return Err(MsgConversionError::DataLengthMismatch),
+        };
+
+        let last_pdata = match pdata.last() {
+            Some(pdata) => pdata,
+            None => return Err(MsgConversionError::DataLengthMismatch),
+        };
 
-        let last_pdata = pdata.last().expect("Dimensionality is 0.");
         let size_with_last_pdata = last_offset + last_pdata.1.size();
         if size_with_last_pdata > point_step_size {
             return Err(MsgConversionError::DataLengthMismatch);
@@ -342,14 +350,14 @@ where
             iteration: 0,
             iteration_back: cloud_length - 1,
             data,
-            phantom_c: core::marker::PhantomData,
+            _phantom: core::marker::PhantomData,
         })
     }
 }
 
 impl<const N: usize, C> PointCloudIterator<N, C>
 where
-    C: Fields<N>,
+    C: PointConvertible<N>,
 {
     #[inline]
     #[must_use]
@@ -358,7 +366,7 @@ where
             iteration: 0,
             iteration_back: data.len() - 1,
             data,
-            phantom_c: core::marker::PhantomData,
+            _phantom: core::marker::PhantomData,
         }
     }