Module ros 

ROS integration — compress and decompress PointCloud2Msg using the Cloudini format.

Enable the ros feature in your Cargo.toml:

[dependencies]
cloudini = { version = "*", features = ["ros"] }

Compressing a cloud

use cloudini::ros::{CompressExt, CompressionConfig, PointCloud2Msg};
use ros_pointcloud2::points::PointXYZ;

// one line — 1 mm resolution, ZSTD compression
let compressed = cloud_msg.compress(CompressionConfig::lossy_zstd(0.001)).unwrap();

// ship `compressed` over the network or store it

Decompressing

use cloudini::ros::{CompressExt, CompressionConfig, PointCloud2Msg};
use ros_pointcloud2::points::PointXYZ;

let cloud_msg = compressed.decompress().unwrap();
// cloud_msg is a PointCloud2Msg ready for downstream processing

Re-exported types

Common ros_pointcloud2 types are re-exported here so you only need one import: PointCloud2Msg, HeaderMsg, PointFieldMsg, TimeMsg, FieldDatatype, CloudDimensions, Endian, Denseness.

Structs

ArchivedCompressedPointCloud2

An archived CompressedPointCloud2

CloudDimensions

Dimensions of the point cloud as width and height.

CompressedPointCloud2

The point_cloud_interfaces/msg/CompressedPointCloud2 ROS message type.

CompressedPointCloud2Resolver

The resolver for an archived CompressedPointCloud2

CompressionConfig

Controls how a PointCloud2Msg is encoded and compressed.

HeaderMsg

Represents the header of a ROS message.

PointCloud2Msg

The intermediate point cloud type.

PointFieldMsg

Describing a point encoded in the byte buffer of a PointCloud2 message. See the official message description for more information.

TimeMsg

Describing a point encoded in the byte buffer of a PointCloud2 message. See the official message description for more information. Time representation for ROS messages.

Enums

Denseness

Density flag for the message. Writing sparse point clouds is not supported.

Endian

Endianess encoding hint for the message.

FieldDatatype

Datatypes from the PointFieldMsg.

Traits

CompressExt

Extension trait that adds .compress() directly to PointCloud2Msg.