Merge pull request #12 from DeepX-inc/port_nopadding

Enable packing w/o padding for pointclouds (gazebosim#493)

Dockerfile

@@ -12,21 +12,19 @@ FROM ghcr.io/deepx-inc/base_images:humble
 # ---BUILD TOOLS---
 RUN apt-get -qq update \
     && apt-get -qq install -y --no-install-recommends \
-    cmake=3.22.* \
-    ffmpeg=7:4.4.* \
-    freeglut3-dev=2.8.* \
-    g++-10=10.4.* \
-    git=1:2.34.* \
-    gnupg=2.2.* \
+    cmake \
+    ffmpeg \
+    freeglut3-dev \
+    g++ \
+    git \
+    gnupg \
     libfreeimage-dev=3.18.* \
     libglew-dev=2.2.* \
     libogre-next-dev=2.2.* \
     libxi-dev=2:1.* \
     libxmu-dev=2:1.* \
     ninja-build=1.10.* \
     pkg-config=0.29.* \
-    redis-server=5:6.0.* \
-    redis-tools=5:6.0.* \
     software-properties-common=0.99.22.* \
     lsb-release=11.1.* \
     wget=1.21.* \
@@ -39,23 +37,22 @@ RUN apt-get -qq update && \
     wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - && \
     add-apt-repository ppa:kisak/kisak-mesa && \
     curl -sSL http://get.gazebosim.org | sh && \
-    update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-10 800 --slave /usr/bin/g++ g++ /usr/bin/g++-10 --slave /usr/bin/gcov gcov /usr/bin/gcov-10 && \
     apt-get -qq update && \
     apt-get -qq upgrade -y --no-install-recommends \
-    libgz-cmake3-dev=3.2.* \
-    libgz-common5-dev=5.4.* \
-    libgz-fuel-tools8-dev=8.0.* \
-    libgz-gui7-dev=7.2.* \
-    libgz-launch6-dev=6.0.* \
-    libgz-math7-dev=7.1.* \
-    libgz-msgs9-dev=9.4.* \
-    libgz-physics6-dev=6.4.* \
-    libgz-plugin2-dev=2.0.* \
-    libgz-sim7-dev=7.5.* \
-    libgz-tools2-dev=2.0.* \
-    libgz-transport12-dev=12.2.* \
-    libgz-utils2-dev=2.0.* \
-    libsdformat13=13.5.* \
+    libgz-cmake3-dev \
+    libgz-common5-dev \
+    libgz-fuel-tools8-dev \
+    libgz-gui7-dev \
+    libgz-launch6-dev \
+    libgz-math7-dev \
+    libgz-msgs9-dev \
+    libgz-physics6-dev \
+    libgz-plugin2-dev \
+    libgz-sim7-dev \
+    libgz-tools2-dev \
+    libgz-transport12-dev \
+    libgz-utils2-dev \
+    libsdformat13 \
     && apt-get -qq -y autoclean \
     && apt-get -qq -y autoremove \
     && rm -rf /var/lib/apt/lists/*
@@ -69,4 +66,6 @@ RUN git clone -b gz-rendering7 --single-branch https://github.com/DeepX-inc/gz-r
 # ---PREPARE GZ-SENSORS DIRECTORY---
 COPY . gz-sensors/
 
-RUN mkdir -p gz-sensors/build
+RUN mkdir -p gz-rendering/build && cd gz-rendering/build && cmake .. && make -j4 && make install
+
+RUN mkdir -p gz-sensors/build && cd gz-sensors/build && cmake .. && make -j4

src/DepthCameraSensor.cc

@@ -299,12 +299,7 @@ bool DepthCameraSensor::Load(const sdf::Sensor &_sdf)
   gzdbg << "Points for [" << this->Name() << "] advertised on ["
          << this->Topic() << "/points]" << std::endl;
 
-  // Initialize the point message.
-  // \todo(anyone) The true value in the following function call forces
-  // the xyz and rgb fields to be aligned to memory boundaries. This is need
-  // by ROS1: https://github.com/ros/common_msgs/pull/77. Ideally, memory
-  // alignment should be configured.
-  msgs::InitPointCloudPacked(this->dataPtr->pointMsg, this->Name(), true,
+  msgs::InitPointCloudPacked(this->dataPtr->pointMsg, this->Name(), false,
       {{"xyz", msgs::PointCloudPacked::Field::FLOAT32},
        {"rgb", msgs::PointCloudPacked::Field::FLOAT32}});
 

src/GpuLidarSensor.cc

@@ -152,13 +152,7 @@ bool GpuLidarSensor::Load(const sdf::Sensor &_sdf)
     }
   }
 
-  // Initialize the point message.
-  // \todo(anyone) The true value in the following function call forces
-  // the xyz and rgb fields to be aligned to memory boundaries. This is need
-  // by ROS1: https://github.com/ros/common_msgs/pull/77. Ideally, memory
-  // alignment should be configured. This same problem is in the
-  // RgbdCameraSensor.
-  msgs::InitPointCloudPacked(this->dataPtr->pointMsg, this->Name(), true,
+  msgs::InitPointCloudPacked(this->dataPtr->pointMsg, this->Name(), false,
       {{"xyz", msgs::PointCloudPacked::Field::FLOAT32},
       {"intensity", msgs::PointCloudPacked::Field::FLOAT32},
       {"ring", msgs::PointCloudPacked::Field::UINT16}});

src/RgbdCameraSensor.cc

@@ -240,12 +240,7 @@ bool RgbdCameraSensor::Load(const sdf::Sensor &_sdf)
   if (!this->AdvertiseInfo(this->Topic() + "/camera_info"))
     return false;
 
-  // Initialize the point message.
-  // \todo(anyone) The true value in the following function call forces
-  // the xyz and rgb fields to be aligned to memory boundaries. This is need
-  // by ROS1: https://github.com/ros/common_msgs/pull/77. Ideally, memory
-  // alignment should be configured.
-  msgs::InitPointCloudPacked(this->dataPtr->pointMsg, this->FrameId(), true,
+  msgs::InitPointCloudPacked(this->dataPtr->pointMsg, this->FrameId(), false,
       {{"xyz", msgs::PointCloudPacked::Field::FLOAT32},
        {"rgb", msgs::PointCloudPacked::Field::FLOAT32}});
 

test/integration/gpu_lidar_sensor.cc

@@ -420,10 +420,10 @@ void GpuLidarSensorTest::DetectBox(const std::string &_renderEngine)
   EXPECT_EQ(static_cast<uint32_t>(vertSamples), pointMsgs.back().height());
   EXPECT_EQ(static_cast<uint32_t>(horzSamples), pointMsgs.back().width());
   EXPECT_FALSE(pointMsgs.back().is_bigendian());
-  EXPECT_EQ(32u, pointMsgs.back().point_step());
-  EXPECT_EQ(32u * horzSamples, pointMsgs.back().row_step());
+  EXPECT_EQ(18u, pointMsgs.back().point_step());
+  EXPECT_EQ(18u * horzSamples, pointMsgs.back().row_step());
   EXPECT_FALSE(pointMsgs.back().is_dense());
-  EXPECT_EQ(32u * horzSamples * vertSamples, pointMsgs.back().data().size());
+  EXPECT_EQ(18u * horzSamples * vertSamples, pointMsgs.back().data().size());
 
   // Clean up rendering ptrs
   visualBox1.reset();

test/integration/rgbd_camera.cc

@@ -475,7 +475,7 @@ void RgbdCameraSensorTest::ImagesWithBuiltinSDF(
   {
     // init the point cloud msg to be filled
     msgs::PointCloudPacked pointsMsg;
-    msgs::InitPointCloudPacked(pointsMsg, "depth2Image", true,
+    msgs::InitPointCloudPacked(pointsMsg, "depth2Image", false,
         {{"xyz", msgs::PointCloudPacked::Field::FLOAT32},
          {"rgb", msgs::PointCloudPacked::Field::FLOAT32}});
     pointsMsg.set_width(rgbdSensor->ImageWidth());