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transform polygone: Do not clear poly_in before transforming points #697

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transform polygone: Do not clear poly_in before transforming points #697

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58d87df
do not clear poly_in before transforming points
Fellfalla Jun 19, 2024
9652a51
fix test
Fellfalla Jun 22, 2024
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9 changes: 4 additions & 5 deletions tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -463,12 +463,11 @@ void doTransform(
geometry_msgs::msg::Polygon & poly_out,
const geometry_msgs::msg::TransformStamped & transform)
{
poly_out.points.clear();
for (auto & point : poly_in.points) {
geometry_msgs::msg::Point32 point_transformed;
doTransform(point, point_transformed, transform);
poly_out.points.push_back(point_transformed);
std::vector<geometry_msgs::msg::Point32> points_transformed(poly_in.points.size(), {});
for (size_t i=0; i < poly_in.points.size(); ++i) {
doTransform(poly_in.points[i], points_transformed[i], transform);
}
poly_out.points = points_transformed;
Comment on lines +466 to +470
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Suggested change
std::vector<geometry_msgs::msg::Point32> points_transformed(poly_in.points.size(), {});
for (size_t i=0; i < poly_in.points.size(); ++i) {
doTransform(poly_in.points[i], points_transformed[i], transform);
}
poly_out.points = points_transformed;
poly_out.points.resize(poly_in.points.size());
for (size_t i = 0; i < poly_in.points.size(); ++i) {
doTransform(poly_in.points[i], poly_out.points[i], transform);
}

The tf2::Polygon cannot handle the = assignment cleanly, so the corresponding test fails. But if we want, an easy fix is to just call reserve on poly_out before we run the doTransform loop, then it will ensure there's space for the referenced point to be moved into the function call. This is beneficial since we're not copying any values.

}

/** \brief Trivial "conversion" function for Polygon message type.
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17 changes: 17 additions & 0 deletions tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp
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Expand Up @@ -458,6 +458,23 @@ TEST(TfGeometry, Polygon)
EXPECT_NEAR(res.points[0].z, 27, EPS);
}

// non-stamped by reference
{
geometry_msgs::msg::Polygon res;
geometry_msgs::msg::Point32 p;
p.x = 1;
p.y = 2;
p.z = 3;
res.points.push_back(p);

geometry_msgs::msg::TransformStamped t = generate_stamped_transform();

tf2::doTransform(res, res, t);
EXPECT_NEAR(res.points[0].x, 11, EPS);
EXPECT_NEAR(res.points[0].y, 18, EPS);
EXPECT_NEAR(res.points[0].z, 27, EPS);
}

// stamped
{
geometry_msgs::msg::PolygonStamped v1, res;
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