updated point type in point_cloud_fusion and point_cloud_fusion_nodes…

… include
usdot-fhwa-stol · Mar 28, 2024 · 553f517 · 553f517
1 parent 71c63d8
commit 553f517
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Showing 3 changed files with 9 additions and 9 deletions.
diff --git a/...c/perception/filters/point_cloud_fusion/include/point_cloud_fusion/point_cloud_fusion.hpp b/...c/perception/filters/point_cloud_fusion/include/point_cloud_fusion/point_cloud_fusion.hpp
@@ -32,7 +32,7 @@ namespace filters
 {
 namespace point_cloud_fusion
 {
-using autoware::common::types::PointXYZI;
+using autoware::common::types::PointXYZIRing;
 
 class POINT_CLOUD_FUSION_PUBLIC PointCloudFusion
 {
@@ -67,7 +67,7 @@ class POINT_CLOUD_FUSION_PUBLIC PointCloudFusion
   void concatenate_pointcloud(
     const PointCloudMsgT & pc_in,
     uint32_t & concat_idx,
-    point_cloud_msg_wrapper::PointCloud2Modifier<PointXYZI> & modifier) const;
+    point_cloud_msg_wrapper::PointCloud2Modifier<PointXYZIRing> & modifier) const;
 
   uint32_t m_cloud_capacity;
   size_t m_input_topics_size;

diff --git a/AutowareAuto/src/perception/filters/point_cloud_fusion/src/point_cloud_fusion.cpp b/AutowareAuto/src/perception/filters/point_cloud_fusion/src/point_cloud_fusion.cpp
@@ -41,8 +41,8 @@ uint32_t PointCloudFusion::fuse_pc_msgs(
 {
   uint32_t pc_concat_idx = 0;
 
-  using autoware::common::types::PointXYZI;
-  point_cloud_msg_wrapper::PointCloud2Modifier<PointXYZI> modifier{cloud_concatenated};
+  using autoware::common::types::PointXYZIRing;
+  point_cloud_msg_wrapper::PointCloud2Modifier<PointXYZIRing> modifier{cloud_concatenated};
 
   for (size_t i = 0; i < m_input_topics_size; ++i) {
     concatenate_pointcloud(*msgs[i], pc_concat_idx, modifier);
@@ -54,18 +54,18 @@ uint32_t PointCloudFusion::fuse_pc_msgs(
 void PointCloudFusion::concatenate_pointcloud(
   const sensor_msgs::msg::PointCloud2 & pc_in,
   uint32_t & concat_idx,
-  point_cloud_msg_wrapper::PointCloud2Modifier<PointXYZI> & modifier) const
+  point_cloud_msg_wrapper::PointCloud2Modifier<PointXYZIRing> & modifier) const
 {
   if ((pc_in.width + concat_idx) > m_cloud_capacity) {
     throw Error::TOO_LARGE;
   }
 
-  using autoware::common::types::PointXYZI;
-  point_cloud_msg_wrapper::PointCloud2View<PointXYZI> view{pc_in};
+  using autoware::common::types::PointXYZIRing;
+  point_cloud_msg_wrapper::PointCloud2View<PointXYZIRing> view{pc_in};
 
   auto view_it = view.cbegin();
   while (view_it != view.cend()) {
-    common::types::PointXYZI pt;
+    common::types::PointXYZIRing pt;
     pt.x = (*view_it).x;
     pt.y = (*view_it).y;
     pt.z = (*view_it).z;

diff --git a/...ers/point_cloud_fusion_nodes/include/point_cloud_fusion_nodes/point_cloud_fusion_node.hpp b/...ers/point_cloud_fusion_nodes/include/point_cloud_fusion_nodes/point_cloud_fusion_node.hpp
@@ -52,7 +52,7 @@ class POINT_CLOUD_FUSION_NODES_PUBLIC PointCloudFusionNode : public rclcpp::Node
     const rclcpp::NodeOptions & node_options);
 
 private:
-  using PointT = common::types::PointXYZIF;
+  using PointT = common::types::PointXYZIRing;
   using PointCloudMsgT = sensor_msgs::msg::PointCloud2;
   using PointCloudT = sensor_msgs::msg::PointCloud2;
   using SyncPolicyT = message_filters::sync_policies::ApproximateTime<PointCloudMsgT,