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.
I have changed the intensity field in ROS
PointCloud2
because I see no advantage in converting this field fromUINT8
toFLOAT
type. The intensity inLidarPointCloudMsg
is kept asUINT8
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.