cloudini 0.3.2

The cloudini point cloud compression library for Rust.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81

/*
 * Copyright 2025 Davide Faconti
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include "cloudini_plugin/cloudini_publisher_plugin.hpp"

#include <string>

#include "cloudini_ros/conversion_utils.hpp"

namespace cloudini_point_cloud_transport {

CloudiniPublisher::CloudiniPublisher() {}

void CloudiniPublisher::declareParameters(const std::string& base_topic) {
  rcl_interfaces::msg::ParameterDescriptor encode_resolution_descriptor;
  encode_resolution_descriptor.name = "cloudini_resolution";
  encode_resolution_descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
  encode_resolution_descriptor.description = "resolution of floating points fields (XYZ) in meters";

  encode_resolution_descriptor.set__integer_range({rcl_interfaces::msg::IntegerRange().set__to_value(0.001)});

  declareParam<double>(encode_resolution_descriptor.name, resolution_, encode_resolution_descriptor);

  getParam<double>(encode_resolution_descriptor.name, resolution_);

  auto param_change_callback = [this](const std::vector<rclcpp::Parameter>& parameters) {
    auto result = rcl_interfaces::msg::SetParametersResult();
    result.successful = true;
    for (auto parameter : parameters) {
      if (parameter.get_name().find("cloudini_resolution") != std::string::npos) {
        resolution_ = parameter.as_double();
        return result;
      }
    }
    return result;
  };
  setParamCallback(param_change_callback);
}

CloudiniPublisher::TypedEncodeResult CloudiniPublisher::encodeTyped(const sensor_msgs::msg::PointCloud2& raw) const {
  auto info = Cloudini::ConvertToEncodingInfo(raw, resolution_);
  Cloudini::PointcloudEncoder encoder(info);

  // copy all the fields from the raw point cloud to the compressed one
  point_cloud_interfaces::msg::CompressedPointCloud2 result;

  result.header = raw.header;
  result.width = raw.width;
  result.height = raw.height;
  result.fields = raw.fields;
  result.is_bigendian = false;
  result.point_step = raw.point_step;
  result.row_step = raw.row_step;
  result.is_dense = raw.is_dense;

  // reserve memory for the compressed data
  result.compressed_data.resize(raw.data.size());

  // prepare buffer for compression
  Cloudini::ConstBufferView input(raw.data.data(), raw.data.size());
  auto new_size = encoder.encode(input, result.compressed_data);

  // resize the compressed data to the actual size
  result.compressed_data.resize(new_size);
  return result;
}

}  // namespace cloudini_point_cloud_transport