Add tests against possibly duplicated decoded point clouds

test/test_pcap.py

@@ -15,6 +15,8 @@ def test_pcap_as_contiguous_array(sample_pcap_path):
     # Check that the column index is monotonically increasing
     column_idx = pcd[:, vd.PointField.column].astype(int)
     assert np.diff(column_idx).min() == 0
+    # Sanity check that the point clouds are actually distinct
+    assert not all(len(x) == len(pcd) for _, x in pcds)
 
 
 def test_pcap_as_struct_array(sample_pcap_path, pcl_struct_dtype):
@@ -27,6 +29,7 @@ def test_pcap_as_struct_array(sample_pcap_path, pcl_struct_dtype):
     # Check that the column index is monotonically increasing
     column_idx = pcd["column"].astype(int)
     assert np.diff(column_idx).min() == 0
+    assert not all(len(x) == len(pcd) for _, x in pcds)
 
 
 def test_pcap_time_range(sample_pcap_path):
@@ -35,3 +38,23 @@ def test_pcap_time_range(sample_pcap_path):
     stamp, pcd = pcds[0]
     assert stamp.host >= t0
     assert stamp.device >= t0
+
+
+def _struct_pcd_to_contiguous(pcd_struct):
+    shape = (len(pcd_struct), len(pcd_struct.dtype.fields))
+    converted_pcd = np.empty(shape, dtype=np.float32)
+    for i, field in enumerate(pcd_struct.dtype.fields):
+        converted_pcd[:, i] = pcd_struct[field]
+    return converted_pcd
+
+
+def test_pcap_structs_match_contiguous(sample_pcap_path):
+    """Check that the contents of as_pcl_structs=True/False match."""
+    pcds_struct = list(vd.read_pcap(sample_pcap_path, as_pcl_structs=True))
+    pcds_contiguous = list(vd.read_pcap(sample_pcap_path, as_pcl_structs=False))
+    assert len(pcds_struct) == len(pcds_contiguous)
+    for (stamp_struct, pcd_struct), (stamp_contiguous, pcd_contiguous) in zip(pcds_struct, pcds_contiguous):
+        assert stamp_struct.host == stamp_contiguous.host
+        assert stamp_struct.device == stamp_contiguous.device
+        cast_struct_pcd = _struct_pcd_to_contiguous(pcd_struct)
+        assert np.allclose(cast_struct_pcd, pcd_contiguous, rtol=1e-6)

test/test_ros.py

@@ -1,6 +1,6 @@
 # Copyright (c) 2021-2023, Martin Valgur
 # SPDX-License-Identifier: BSD-3-Clause
-
+import numpy as np
 import velodyne_decoder as vd
 
 
@@ -13,6 +13,8 @@ def test_bag_as_contiguous_array(sample_bag_path):
     assert pcd.shape == (27300, 8)
     assert pcd.dtype.name == "float32"
     assert frame_id == "velodyne"
+    # Sanity check that the point clouds are actually distinct
+    assert not all(len(x) == len(pcd) for _, x, _, _ in pcds)
 
 
 def test_bag_as_struct_array(sample_bag_path, pcl_struct_dtype):
@@ -24,6 +26,7 @@ def test_bag_as_struct_array(sample_bag_path, pcl_struct_dtype):
     assert pcd.shape == (27300,)
     assert pcd.dtype == pcl_struct_dtype
     assert frame_id == "velodyne"
+    assert not all(len(x) == len(pcd) for _, x, _, _ in pcds)
 
 
 def test_bag_automatic_topic(sample_bag_path):
@@ -40,3 +43,23 @@ def test_bag_time_range(sample_bag_path):
     t0 = 1636622717
     pcds = list(vd.read_bag(sample_bag_path, time_range=(t0, None)))
     assert pcds[0].stamp.host >= t0
+
+
+def _struct_pcd_to_contiguous(pcd_struct):
+    shape = (len(pcd_struct), len(pcd_struct.dtype.fields))
+    converted_pcd = np.empty(shape, dtype=np.float32)
+    for i, field in enumerate(pcd_struct.dtype.fields):
+        converted_pcd[:, i] = pcd_struct[field]
+    return converted_pcd
+
+
+def test_pcap_structs_match_contiguous(sample_bag_path):
+    """Check that the contents of as_pcl_structs=True/False match."""
+    pcds_struct = list(vd.read_bag(sample_bag_path, topics="/velodyne_packets", as_pcl_structs=True))
+    pcds_contiguous = list(vd.read_bag(sample_bag_path, topics="/velodyne_packets", as_pcl_structs=False))
+    assert len(pcds_struct) == len(pcds_contiguous)
+    for (stamp_struct, pcd_struct, _, _), (stamp_contiguous, pcd_contiguous, _, _) in zip(pcds_struct, pcds_contiguous):
+        assert stamp_struct.host == stamp_contiguous.host
+        assert stamp_struct.device == stamp_contiguous.device
+        cast_struct_pcd = _struct_pcd_to_contiguous(pcd_struct)
+        assert np.allclose(cast_struct_pcd, pcd_contiguous, rtol=1e-6)