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RoboSense-LiDAR / rslidar_sdk

RoboSense LiDAR SDK for ROS & ROS2
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Changed intensity from float to uint8 #118

Open zygfrydw opened 1 year ago

zygfrydw commented 1 year ago

I have changed the intensity field in ROS PointCloud2 because I see no advantage in converting this field from UINT8 to FLOAT type. The intensity in LidarPointCloudMsg is kept as UINT8 and only when converting to ROS message the intensity is converted to float type. There is no advantage in this conversion, but there are costs of greater message size and additional performance costs of converting floating point to byte for the receiver of this message.

FelixHuang18 commented 1 week ago

Hi zygfrydw, it's a nice change! But there are many other users who want float type intensity.