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Limit map size by subsampling points in point3di_to_pointcloud2 #5

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Limit map size by subsampling points in point3di_to_pointcloud2 #5

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2 changes: 1 addition & 1 deletion include/hdmapping_lio/conversions.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,6 @@ geometry_msgs::msg::TransformStamped affine_to_transform(
sensor_msgs::msg::PointCloud2 point3di_to_pointcloud2(
const std::vector<Point3Di>& points,
const rclcpp::Time& stamp,
const std::string& frame_id);
const std::string& frame_id, int max_points = 2'000'000);

}
12 changes: 9 additions & 3 deletions src/conversions.cpp
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Expand Up @@ -163,7 +163,7 @@ geometry_msgs::msg::TransformStamped affine_to_transform(
sensor_msgs::msg::PointCloud2 point3di_to_pointcloud2(
const std::vector<Point3Di>& points,
const rclcpp::Time& stamp,
const std::string& frame_id)
const std::string& frame_id, int max_points)
{
sensor_msgs::msg::PointCloud2 msg;
msg.header.stamp = stamp;
Expand All @@ -175,14 +175,20 @@ sensor_msgs::msg::PointCloud2 point3di_to_pointcloud2(
"y", 1, sensor_msgs::msg::PointField::FLOAT32,
"z", 1, sensor_msgs::msg::PointField::FLOAT32,
"intensity", 1, sensor_msgs::msg::PointField::FLOAT32);
modifier.resize(points.size());
const size_t point_skip = points.size() > static_cast<size_t>(max_points) ? points.size() / max_points : 1;
const size_t output_points = (points.size() + point_skip - 1) / point_skip;
modifier.resize(output_points);

sensor_msgs::PointCloud2Iterator<float> it_x(msg, "x");
sensor_msgs::PointCloud2Iterator<float> it_y(msg, "y");
sensor_msgs::PointCloud2Iterator<float> it_z(msg, "z");
sensor_msgs::PointCloud2Iterator<float> it_i(msg, "intensity");

for (const auto& p : points) {

for (size_t i = 0; i < output_points; ++i) {
const int idx = i * point_skip;
assert(idx < points.size());
const Point3Di& p = points[idx];
*it_x = static_cast<float>(p.point.x());
*it_y = static_cast<float>(p.point.y());
*it_z = static_cast<float>(p.point.z());
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