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Upstream point cloud utility functions #53
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So I don't know if you saw in #133, but I changed the point clouds so that each science data type is now published as a float array, instead of wrapping into a field in the point cloud. That is advantageous in several ways:
With that, we only need to pack xyz and nothing else in the point cloud. |
Oh I hadn't looked into it yet!
Got it. So the iterator is still used, but only for position. We're still using the iterator, which I'm not confident about until we add proper tests...
+1 for keeping the science data separate from each other
Does this mean that we may be changing the contents of the science data without changing their positions?
Yup, agreed. We just need to be careful because there's implicit coupling between the float arrays and the point cloud indices. |
Related to this upstream issue: gazebosim/gz-sim#1156 |
No. The publish frequency can be different between the positions and the actual science magnitudes though. The positions can be published once in a long while (say, only when the view port is changed enough to warrant a republish), while the data magnitudes can go on and off as the user toggles the drop-down list and unsubscribes, to save bandwidth. They're unlikely to visualize all the data types at once, as it'll be so cluttered they won't be able to see anything. |
I borrowed some point cloud utilities from ROS's point_cloud2_iterator in #87. That's just a quick search-and-replace port without giving it much thought. I'd like to move the functions to
ign-msgs
, cleaning them up and adding proper tests, to make sure they work as intended.I'd also like to take a look at https://gitlab.com/ApexAI/point_cloud_msg_wrapper, presented at ROS World, and see if it's wiser to use that approach instead.
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