updated pcd field types to include ring index (XYZI -> XYZIF)

usdot-fhwa-stol · Mar 27, 2024 · 5514539 · 5514539
1 parent 2e68b17
commit 5514539
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/AutowareAuto/src/perception/filters/point_cloud_fusion_nodes/src/point_cloud_fusion_node.cpp b/AutowareAuto/src/perception/filters/point_cloud_fusion_nodes/src/point_cloud_fusion_node.cpp
@@ -57,8 +57,8 @@ void PointCloudFusionNode::init()
     m_cloud_capacity,
     m_input_topics.size());
 
-  using autoware::common::types::PointXYZI;
-  point_cloud_msg_wrapper::PointCloud2Modifier<PointXYZI>{
+  using autoware::common::types::PointXYZIF;
+  point_cloud_msg_wrapper::PointCloud2Modifier<PointXYZIF>{
     m_cloud_concatenated, m_output_frame_id}.reserve(m_cloud_capacity);
 
   if (m_input_topics.size() > 8 || m_input_topics.size() < 2) {
@@ -104,8 +104,8 @@ PointCloudFusionNode::pointcloud_callback(
     msg8};
 
   // reset pointcloud before using
-  using autoware::common::types::PointXYZI;
-  point_cloud_msg_wrapper::PointCloud2Modifier<PointXYZI> modifier{m_cloud_concatenated};
+  using autoware::common::types::PointXYZIF;
+  point_cloud_msg_wrapper::PointCloud2Modifier<PointXYZIF> modifier{m_cloud_concatenated};
   modifier.clear();
   modifier.reserve(m_cloud_capacity);