Function Cloudini::ConvertToEncodingInfo

• Defined in File conversion_utils.hpp

Function Documentation

EncodingInfo Cloudini::ConvertToEncodingInfo(const sensor_msgs::msg::PointCloud2 &msg, float resolution)

@bried Convert a PointCloud2 message to EncodingInfo Default options (that can be overwitten later) are:

• encoding_opt = LOSSY

• compression_opt = ZSTD

Parameters:

• msg – The PointCloud2 message to convert

• resolution – The resolution to use for FLOAT32 fields (XYZ, XYZI).

Returns:

The EncodingInfo structure