Sample Pointclouds before Publishing #364
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Test PASSed. |
smauq
reviewed
Nov 1, 2022
| cloud_in.hasLabels()); | ||
| static const size_t kMargin = 1000u; | ||
| static const size_t kMaxRosMessageSize = 1000000000u; | ||
| static const size_t kMaxDataSize = kMaxRosMessageSize - kMargin; |
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Just a question and a comment. Why define a margin? instead of just writing the operation there kMaxDataSize = 1000000000u - 1000u;. And would it make sense to also make it a flag? Like that you could subsample also when publishing scan by scan, no?
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Test FAILed. |
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General
This PR cherry-picks the random downsampling that is being applied if the resulting
Pointcloud2message is above 1GB.