Extract extra fields from ROS2 PointCloud2 messages
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PointCloud2 messages for Points3DPointCloud2 messages
crates/utils/re_mcap/src/parsers/ros2msg/sensor_msgs/point_cloud_2.rs
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crates/utils/re_mcap/src/parsers/ros2msg/sensor_msgs/point_cloud_2.rs
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crates/utils/re_mcap/src/parsers/ros2msg/sensor_msgs/point_cloud_2.rs
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Thank you @oxkitsune and @emilk for the feedback. I've addressed your comments if you want to take another look. |
| match value { | ||
| // Not part of the MCAP spec | ||
| // // https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/PointField.html | ||
| PointFieldDatatype::Unknown => unreachable!(), |
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It still sounds like you can create an MCAP file (that is not spec compliant) that can crash the Rerun viewer.
For instance: a new MCAP spec is released with a PointFieldDatatype::Int128, and the old parser will map that to Unknown and Rerun crashes. NOT GOOD.
Instead: return an error
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The loader runs in a separate thread that is specific to that MCAP file.
But overall I agree, we can't know in which context the loader will be running. I will add the error mechanism.
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The loader runs in a separate thread that is specific to that MCAP file
We compile with panic=abort, so a panic on any thread shuts down the whole process.
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TIL! I've made the required changes PR.
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almost working more cleanup merge race and lint
…ud_2.rs Co-authored-by: Gijs de Jong <14833076+oxkitsune@users.noreply.github.com>
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What
This extracts additional values that are associated with points in the
PointCloud2ROS2 messages. The fields will be added to thePoints3darchetype as partially tagged.Screenshot
Test
We can use
autoware_all_sensors.mcapto test.