Struct CompressionConfig 

pub struct CompressionConfig {
    pub encoding: EncodingOptions,
    pub compression: CompressionOption,
    pub resolution: Option<f32>,
}

Controls how a PointCloud2Msg is encoded and compressed.

Use the smart constructors for common cases, or build one manually for custom per-field resolution control via CompressionConfig::with_resolution.

Examples

use cloudini::ros::CompressionConfig;

// 1 mm lossy + ZSTD (typical Lidar geometry)
let cfg = CompressionConfig::lossy_zstd(0.001);

// 1 cm lossy + LZ4 (real-time, slightly larger files)
let cfg = CompressionConfig::lossy_lz4(0.01);

// lossless XOR-encoding + ZSTD (preserves every float bit)
let cfg = CompressionConfig::lossless_zstd();

Fields

encoding: EncodingOptions

Field-level encoding algorithm.

compression: CompressionOption

Block compression applied after field encoding.

resolution: Option<f32>

Quantisation step for all float fields (None → copy verbatim / XOR lossless).

Implementations

impl CompressionConfig

pub fn lossy_zstd(resolution: f32) -> Self

Lossy float quantisation + ZSTD block compression.

resolution is the quantisation step (e.g. 0.001 for 1 mm precision). Maximum per-component error is resolution / 2.

pub fn lossy_lz4(resolution: f32) -> Self

Lossy float quantisation + LZ4 block compression.

Faster than Self::lossy_zstd at the cost of a slightly larger output.

pub fn lossless_zstd() -> Self

Lossless XOR encoding (Float64) + ZSTD block compression.

Every float bit is preserved exactly. Use when downstream algorithms are sensitive to floating-point rounding (e.g. ICP, odometry).

pub fn lossless_lz4() -> Self

Lossless XOR encoding (Float64) + LZ4 block compression.

pub fn with_resolution(self, resolution: f32) -> Self

Override the quantisation resolution after construction.

Useful to start from a preset and then fine-tune:

use cloudini::ros::CompressionConfig;
let cfg = CompressionConfig::lossy_zstd(0.001).with_resolution(0.005);

Trait Implementations

impl Clone for CompressionConfig

fn clone(&self) -> CompressionConfig

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for CompressionConfig

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for CompressionConfig

fn default() -> Self

Default: 1 mm lossy + ZSTD — good for most Lidar workloads.