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pc: add error test cases to PCD unmarshal #66

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Merged
at-wat merged 1 commit into from
Jul 28, 2025
Merged

pc: add error test cases to PCD unmarshal #66

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2 changes: 1 addition & 1 deletion pc/io.go
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Original file line number Diff line number Diff line change
Expand Up @@ -139,7 +139,7 @@ L_HEADER:
pp.Data[dataOffset:dataOffset+4], b,
)
case "U":
v, _ := strconv.ParseUint(pointData[lineOffset+j], 10, 32)
v, err := strconv.ParseUint(pointData[lineOffset+j], 10, 32)
if err != nil {
return nil, err
}
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114 changes: 114 additions & 0 deletions pc/io_test.go
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Original file line number Diff line number Diff line change
Expand Up @@ -2,9 +2,14 @@ package pc

import (
"bytes"
"errors"
"io"
"reflect"
"strconv"
"testing"

lzf "github.com/zhuyie/golzf"

"github.com/seqsense/pcgol/mat"
)

Expand All @@ -17,6 +22,7 @@ func TestUnmarshal(t *testing.T) {
testCases := map[string]struct {
pcd []byte
expected []point
err error
}{
"Ascii": {
pcd: []byte(`# .PCD v0.7 - Point Cloud Data file format
Expand Down Expand Up @@ -103,12 +109,120 @@ DATA ascii
{0.968, 0.512, -0.998, 1},
},
},
"ErrorVersion": {
pcd: []byte("VERSION X"),
err: strconv.ErrSyntax,
},
"ErrorSize": {
pcd: []byte("SIZE X"),
err: strconv.ErrSyntax,
},
"ErrorCount": {
pcd: []byte("COUNT X"),
err: strconv.ErrSyntax,
},
"ErrorWidth": {
pcd: []byte("WIDTH X"),
err: strconv.ErrSyntax,
},
"ErrorHeight": {
pcd: []byte("HEIGHT X"),
err: strconv.ErrSyntax,
},
"ErrorViewpoint": {
pcd: []byte("VIEWPOINT X"),
err: strconv.ErrSyntax,
},
"ErrorPoints": {
pcd: []byte("POINTS X"),
err: strconv.ErrSyntax,
},
"ErrorBrokenAsciiFloat": {
pcd: []byte(`VERSION 0.7
FIELDS x
SIZE 4
TYPE F
COUNT 1
WIDTH 1
HEIGHT 1
POINTS 5
DATA ascii
X
`),
err: strconv.ErrSyntax,
},
"ErrorBrokenAsciiUint": {
pcd: []byte(`VERSION 0.7
FIELDS x
SIZE 4
TYPE U
COUNT 1
WIDTH 1
HEIGHT 1
POINTS 5
DATA ascii
&
`),
err: strconv.ErrSyntax,
},
"ErrorBinaryCompressedNCompressedEOF": {
pcd: []byte{
0x56, 0x45, 0x52, 0x53, 0x49, 0x4f, 0x4e, 0x20, 0x30, 0x2e, 0x37, 0x0a, 0x46, 0x49, 0x45, 0x4c,
0x44, 0x53, 0x20, 0x78, 0x0a, 0x53, 0x49, 0x5a, 0x45, 0x20, 0x34, 0x0a, 0x54, 0x59, 0x50, 0x45,
0x20, 0x46, 0x0a, 0x43, 0x4f, 0x55, 0x4e, 0x54, 0x20, 0x31, 0x0a, 0x57, 0x49, 0x44, 0x54, 0x48,
0x20, 0x31, 0x0a, 0x48, 0x45, 0x49, 0x47, 0x48, 0x54, 0x20, 0x31, 0x0a, 0x50, 0x4f, 0x49, 0x4e,
0x54, 0x53, 0x20, 0x31, 0x0a, 0x44, 0x41, 0x54, 0x41, 0x20, 0x62, 0x69, 0x6e, 0x61, 0x72, 0x79,
0x5f, 0x63, 0x6f, 0x6d, 0x70, 0x72, 0x65, 0x73, 0x73, 0x65, 0x64, 0x0a,
},
err: io.EOF,
},
"ErrorBinaryCompressedNUncompressedEOF": {
pcd: []byte{
0x56, 0x45, 0x52, 0x53, 0x49, 0x4f, 0x4e, 0x20, 0x30, 0x2e, 0x37, 0x0a, 0x46, 0x49, 0x45, 0x4c,
0x44, 0x53, 0x20, 0x78, 0x0a, 0x53, 0x49, 0x5a, 0x45, 0x20, 0x34, 0x0a, 0x54, 0x59, 0x50, 0x45,
0x20, 0x46, 0x0a, 0x43, 0x4f, 0x55, 0x4e, 0x54, 0x20, 0x31, 0x0a, 0x57, 0x49, 0x44, 0x54, 0x48,
0x20, 0x31, 0x0a, 0x48, 0x45, 0x49, 0x47, 0x48, 0x54, 0x20, 0x31, 0x0a, 0x50, 0x4f, 0x49, 0x4e,
0x54, 0x53, 0x20, 0x31, 0x0a, 0x44, 0x41, 0x54, 0x41, 0x20, 0x62, 0x69, 0x6e, 0x61, 0x72, 0x79,
0x5f, 0x63, 0x6f, 0x6d, 0x70, 0x72, 0x65, 0x73, 0x73, 0x65, 0x64, 0x0a, 0x01, 0x00, 0x00, 0x00,
},
err: io.EOF,
},
"ErrorBinaryCompressedDataEOF": {
pcd: []byte{
0x56, 0x45, 0x52, 0x53, 0x49, 0x4f, 0x4e, 0x20, 0x30, 0x2e, 0x37, 0x0a, 0x46, 0x49, 0x45, 0x4c,
0x44, 0x53, 0x20, 0x78, 0x0a, 0x53, 0x49, 0x5a, 0x45, 0x20, 0x34, 0x0a, 0x54, 0x59, 0x50, 0x45,
0x20, 0x46, 0x0a, 0x43, 0x4f, 0x55, 0x4e, 0x54, 0x20, 0x31, 0x0a, 0x57, 0x49, 0x44, 0x54, 0x48,
0x20, 0x31, 0x0a, 0x48, 0x45, 0x49, 0x47, 0x48, 0x54, 0x20, 0x31, 0x0a, 0x50, 0x4f, 0x49, 0x4e,
0x54, 0x53, 0x20, 0x31, 0x0a, 0x44, 0x41, 0x54, 0x41, 0x20, 0x62, 0x69, 0x6e, 0x61, 0x72, 0x79,
0x5f, 0x63, 0x6f, 0x6d, 0x70, 0x72, 0x65, 0x73, 0x73, 0x65, 0x64, 0x0a, 0x01, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00,
},
err: io.EOF,
},
"ErrorBinaryCompressedInvalidData": {
pcd: []byte{
0x56, 0x45, 0x52, 0x53, 0x49, 0x4f, 0x4e, 0x20, 0x30, 0x2e, 0x37, 0x0a, 0x46, 0x49, 0x45, 0x4c,
0x44, 0x53, 0x20, 0x78, 0x0a, 0x53, 0x49, 0x5a, 0x45, 0x20, 0x34, 0x0a, 0x54, 0x59, 0x50, 0x45,
0x20, 0x46, 0x0a, 0x43, 0x4f, 0x55, 0x4e, 0x54, 0x20, 0x31, 0x0a, 0x57, 0x49, 0x44, 0x54, 0x48,
0x20, 0x31, 0x0a, 0x48, 0x45, 0x49, 0x47, 0x48, 0x54, 0x20, 0x31, 0x0a, 0x50, 0x4f, 0x49, 0x4e,
0x54, 0x53, 0x20, 0x31, 0x0a, 0x44, 0x41, 0x54, 0x41, 0x20, 0x62, 0x69, 0x6e, 0x61, 0x72, 0x79,
0x5f, 0x63, 0x6f, 0x6d, 0x70, 0x72, 0x65, 0x73, 0x73, 0x65, 0x64, 0x0a, 0x01, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00,
},
err: lzf.ErrDataCorruption,
},
}

for name, tt := range testCases {
tt := tt
t.Run(name, func(t *testing.T) {
pp, err := Unmarshal(bytes.NewReader(tt.pcd))
if tt.err != nil {
if !errors.Is(err, tt.err) {
t.Fatalf("Expected error: '%v', got: '%v'", tt.err, err)
}
return
}
if err != nil {
t.Fatal(err)
}
Expand Down