point_cloud: Ensure flag printing handles all fields

Slumon · Feb 6, 2019 · 098eeaa · 098eeaa
1 parent e3f6051
commit 098eeaa
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Showing 3 changed files with 13 additions and 1 deletion.
diff --git a/perception/point_cloud_flags.cc b/perception/point_cloud_flags.cc
@@ -27,9 +27,14 @@ std::ostream& join(std::ostream& os,
 namespace pc_flags {
 
 std::ostream& operator<<(std::ostream& os, const Fields& fields) {
+  DRAKE_DEMAND(internal::kMaxBitInUse == kRGBs);
   std::vector<std::string> values;
-  if (fields.contains(pc_flags::kXYZs))
+  if (fields.contains(kXYZs))
     values.push_back("kXYZs");
+  if (fields.contains(kNormals))
+    values.push_back("kNormals");
+  if (fields.contains(kRGBs))
+    values.push_back("kRGBs");
   if (fields.has_descriptor()) {
     values.push_back(fields.descriptor_type().name());
   }

diff --git a/perception/point_cloud_flags.h b/perception/point_cloud_flags.h
@@ -30,6 +30,7 @@ enum BaseField : int {
 
 namespace internal {
 
+// N.B. Ensure this is the largest bit.
 constexpr BaseField kMaxBitInUse = kRGBs;
 
 }  // namespace internal

diff --git a/perception/test/point_cloud_flags_test.cc b/perception/test/point_cloud_flags_test.cc
@@ -29,6 +29,12 @@ GTEST_TEST(PointCloudFlagsTest, Basic) {
     os << (pcf::kXYZs | pcf::kDescriptorCurvature);
     EXPECT_EQ("(kXYZs | kDescriptorCurvature)", os.str());
   }
+  // Ensure it works for multiple types.
+  {
+    std::ostringstream os;
+    os << (pcf::kXYZs | pcf::kRGBs | pcf::kDescriptorCurvature);
+    EXPECT_EQ("(kXYZs | kRGBs | kDescriptorCurvature)", os.str());
+  }
 
   // Check basics.
   pcf::Fields lhs = pcf::kXYZs;