Chore/release drafter

.github/release-drafter.yml

@@ -0,0 +1,44 @@
+name-template: 'v$RESOLVED_VERSION 🌈'
+
+tag-template: 'v$RESOLVED_VERSION'
+
+categories:
+  - title: '🚀 Features'
+    labels:
+      - 'rd/feature'
+
+  - title: '🐛 Bug Fixes'
+    labels:
+      - 'rd/fix'
+
+  - title: '🧰 Maintenance'
+    labels:
+      - 'rd/chore'
+
+  - title: '📄 Documentation'
+    labels:
+      - 'rd/docs'
+
+change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
+
+change-title-escapes: '\<*_&'
+
+version-resolver:
+  major:
+    labels:
+      - 'rd/major'
+
+  minor:
+    labels:
+      - 'rd/minor'
+
+  patch:
+    labels:
+      - 'rd/patch'
+
+  default: patch
+
+template: |
+  ## Changes
+
+  $CHANGES

.github/workflows/release-drafter.yaml

@@ -0,0 +1,26 @@
+name: Release Drafter
+
+on:
+  push:
+    branches:
+      - main
+
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  update_release_draft:
+    permissions:
+      contents: write
+      pull-requests: write
+
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: release-drafter/release-drafter@v6
+        with:
+          disable-autolabeler: true
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

src/pypcd4/pypcd4.py

@@ -165,7 +165,7 @@ def build_dtype(self) -> np.dtype[np.void]:
                 field_names.append(field)
                 np_types.append(np_type)
             else:
-                field_names.extend([f"{field}_{i:04d}" for i in range(count)])
+                field_names.extend([f"{field}__{i:04d}" for i in range(count)])
                 np_types.extend([np_type] * count)
 
         return np.dtype([x for x in zip(field_names, np_types)])
@@ -616,7 +616,7 @@ def to_msg(self, header: Optional["Header"] = None) -> "PointCloud2":
         fields = []
         itemsize = 0
         row_step = 0
-        for i, (field, type_, count) in enumerate(zip(self.fields, self.types, self.count)):
+        for i, (field, type_, count) in enumerate(zip(self.fields, self.types, self.counts)):
             type_ = np.dtype(type_)
 
             itemsize += type_.itemsize
@@ -693,11 +693,34 @@ def fields(self) -> Tuple[str, ...]:
         Returns:
             Tuple[str, ...]: Tuple of field names for each field
 
-        >>> pc.fields
+        Note:
+            If the field count is not 1, the field names will be suffixed with __0000, __0001, etc.
+            If you don't want this behavior, use the `pc.metadata.fields` instead.
+
+        >>> pc1.metadata.count
+        (1, 1, 1)
+
+        >>> pc1.fields
+        ("x", "y", "z")
+
+        >>> pc2.metadata.count
+        (1, 1, 2)
+
+        >>> pc2.fields
+        ("x", "y", "z__0000", "z__0001")
+
+        >>> pc2.metadata.fields
         ("x", "y", "z")
         """
 
-        return self.metadata.fields
+        fields = []
+        for field, count in zip(self.metadata.fields, self.metadata.count):
+            if count == 1:
+                fields.append(field)
+            else:
+                fields.extend(f"{field}__{c:04d}" for c in range(count))
+
+        return tuple(fields)
 
     @property
     def types(self) -> Tuple[npt.DTypeLike, ...]:
@@ -706,26 +729,53 @@ def types(self) -> Tuple[npt.DTypeLike, ...]:
         Returns:
             Tuple[npt.DTypeLike, ...]: Tuple of numpy types for each field
 
-        >>> pc.types
-        (np.float32, np.float32, np.float32)
+        Note:
+            If the field count is not 1, the type will be repeated for the number of fields
+
+        >>> pc1.metadata.count
+        (1, 1, 1)
+
+        >>> pc1.types
+        (np.float32, np.int32, np.float32)
+
+        >>> pc2.metadata.count
+        (1, 2, 1)
+
+        >>> pc2.types
+        (np.float32, np.int32, np.int32, np.float32)
         """
 
-        return tuple(
-            PCD_TYPE_TO_NUMPY_TYPE[ts] for ts in zip(self.metadata.type, self.metadata.size)
-        )
+        types = []
+        for ts, count in zip(zip(self.metadata.type, self.metadata.size), self.metadata.count):
+            if count == 1:
+                types.append(PCD_TYPE_TO_NUMPY_TYPE[ts])
+            else:
+                types.extend(PCD_TYPE_TO_NUMPY_TYPE[ts] for _ in range(count))
+
+        return tuple(types)
 
     @property
-    def count(self) -> Tuple[PositiveInt, ...]:
+    def counts(self) -> Tuple[PositiveInt, ...]:
         """Returns number of elements in each field
 
         Returns:
             Tuple[PositiveInt, ...]: Tuple of number of elements in each field
 
-        >>> pc.counts
+        Note:
+            If the field count is not 1, the count will be repeated for the number of its counts
+            If you don't want this behavior, use the `pc.metadata.count` instead.
+
+        >>> pc1.metadata.count
         (1, 1, 1)
+
+        >>> pc2.metadata.count
+        (1, 2, 1)
+
+        >>> pc2.counts
+        (1, 1, 1, 1)
         """
 
-        return self.metadata.count
+        return (1,) * sum(self.metadata.count)
 
     @property
     def points(self) -> int:

tests/conftest.py

@@ -1,3 +1,5 @@
+# ruff: noqa: ANN001, ANN201
+
 from pathlib import Path
 
 import pytest
@@ -296,6 +298,11 @@ def xyzrgb_ascii_with_empty_points_path():
 def xyzintensity_ascii_organized_path():
     return f"{Path(__file__).resolve().parent}/pcd/ascii_organized.pcd"
 
+
+@pytest.fixture
+def xyzintensity_ascii_multi_count_path():
+    return f"{Path(__file__).resolve().parent}/pcd/ascii_multi_count.pcd"
+
 @pytest.fixture
 def xyzrgb_binary_path():
     return f"{Path(__file__).resolve().parent}/pcd/binary.pcd"

tests/pcd/ascii_multi_count.pcd

@@ -0,0 +1,19 @@
+# .PCD v.7 - Point Cloud Data file format
+VERSION .7
+FIELDS x y z intensity
+SIZE 4 4 4 4
+TYPE F F F F
+COUNT 1 1 1 4
+WIDTH 8
+HEIGHT 1
+VIEWPOINT 0 0 0 1 0 0 0
+POINTS 8
+DATA ascii
+0.0 0.0 0.0 0.1 0.1 0.1 0.1
+0.0 0.0 1.0 0.2 0.2 0.2 0.2
+0.0 1.0 0.0 0.3 0.3 0.3 0.3
+0.0 1.0 1.0 0.4 0.4 0.4 0.4
+1.0 0.0 0.0 0.5 0.5 0.5 0.5
+1.0 0.0 1.0 0.6 0.6 0.6 0.6
+1.0 1.0 0.0 0.7 0.7 0.7 0.7
+1.0 1.0 1.0 0.8 0.8 0.8 0.8

tests/test/test_pypcd4.py

@@ -1,3 +1,5 @@
+# ruff: noqa: ANN001, ANN201
+
 from io import BytesIO
 from pathlib import Path
 from tempfile import TemporaryDirectory
@@ -181,10 +183,10 @@ def test_build_dtype_with_multi_count_fields(pcd_header_with_multi_count_fields)
     assert metadata.build_dtype() == [
         ("x", "<f4"),
         ("y", "<f4"),
-        ("z_0000", "<f4"),
-        ("z_0001", "<f4"),
-        ("z_0002", "<f4"),
-        ("z_0003", "<f4"),
+        ("z__0000", "<f4"),
+        ("z__0001", "<f4"),
+        ("z__0002", "<f4"),
+        ("z__0003", "<f4"),
     ]
 
 
@@ -278,14 +280,14 @@ def test_from_points():
     array = np.array([[1, 2, 3], [4, 5, 6]])
     fields = ("x", "y", "z")
     types = (np.float32, np.float32, np.float32)
-    count = (1, 1, 1)
+    counts = (1, 1, 1)
 
-    pc = PointCloud.from_points(array, fields, types, count)
+    pc = PointCloud.from_points(array, fields, types, counts)
 
     assert pc.fields == fields
     assert pc.types == types
     assert pc.points == 2
-    assert pc.count == count
+    assert pc.counts == counts
     assert pc.pc_data.dtype.names == fields
 
     assert np.array_equal(pc.pc_data["x"], array.T[0])
@@ -678,6 +680,42 @@ def test_numpy():
     assert np.allclose(out_points, np.empty((0, 0)))
 
 
+def test_numpy_with_multi_count_fields(xyzintensity_ascii_multi_count_path):
+    pc = PointCloud.from_path(xyzintensity_ascii_multi_count_path)
+
+    assert pc.fields == (
+        "x",
+        "y",
+        "z",
+        "intensity__0000",
+        "intensity__0001",
+        "intensity__0002",
+        "intensity__0003",
+    )
+    assert pc.metadata.fields == (
+        "x",
+        "y",
+        "z",
+        "intensity",
+    )
+    assert pc.types == (
+        np.float32,
+        np.float32,
+        np.float32,
+        np.float32,
+        np.float32,
+        np.float32,
+        np.float32,
+    )
+    assert pc.counts == (1, 1, 1, 1, 1, 1, 1)
+    assert pc.metadata.count == (1, 1, 1, 4)
+    assert pc.points == 8
+
+    points = pc.numpy()
+
+    assert points.shape == (8, 7)
+
+
 def test_save_as_ascii():
     in_points = np.random.randint(0, 1000, (100, 3))
     fields = ("x", "y", "z")