Change data type of return_type to uint8 (tier4#8)

MapIV · Sep 15, 2021 · bbdfdf5 · bbdfdf5
1 parent e45a92f
commit bbdfdf5
Show file tree

Hide file tree

Showing 7 changed files with 19 additions and 15 deletions.
diff --git a/pandar_pointcloud/include/pandar_pointcloud/decoder/pandar40_decoder.hpp b/pandar_pointcloud/include/pandar_pointcloud/decoder/pandar40_decoder.hpp
@@ -18,7 +18,7 @@ class Pandar40Decoder : public PacketDecoder
     STRONGEST,
     LAST,
   };
-  enum ReturnType : int8_t
+  enum ReturnType : uint8_t
   {
     INVALID = 0,
     SINGLE_STRONGEST,
@@ -37,7 +37,7 @@ class Pandar40Decoder : public PacketDecoder
 
 private:
   bool parsePacket(const pandar_msgs::PandarPacket& raw_packet);
-  PointXYZIRADT build_point(int block_id, int unit_id, int8_t return_type);
+  PointXYZIRADT build_point(int block_id, int unit_id, uint8_t return_type);
   PointcloudXYZIRADT convert(const int block_id);
   PointcloudXYZIRADT convert_dual(const int block_id);
 

diff --git a/pandar_pointcloud/include/pandar_pointcloud/decoder/pandar64_decoder.hpp b/pandar_pointcloud/include/pandar_pointcloud/decoder/pandar64_decoder.hpp
@@ -18,7 +18,7 @@ namespace pandar_pointcloud
         STRONGEST,
         LAST,
       };
-      enum ReturnType : int8_t
+      enum ReturnType : uint8_t
       {
         INVALID = 0,
         SINGLE_STRONGEST,
@@ -35,7 +35,7 @@ namespace pandar_pointcloud
 
       void unpack(const pandar_msgs::PandarPacket& raw_packet) override;
 
-      PointXYZIRADT build_point(int block_id, int unit_id, int8_t return_type);
+      PointXYZIRADT build_point(int block_id, int unit_id, uint8_t return_type);
 
       bool hasScanned() override;
 

diff --git a/pandar_pointcloud/include/pandar_pointcloud/decoder/pandar_qt_decoder.hpp b/pandar_pointcloud/include/pandar_pointcloud/decoder/pandar_qt_decoder.hpp
@@ -18,7 +18,7 @@ class PandarQTDecoder : public PacketDecoder
     FIRST,
     LAST,
   };
-  enum ReturnType : int8_t
+  enum ReturnType : uint8_t
   {
     INVALID = 0,
     SINGLE_FIRST,
@@ -30,7 +30,7 @@ class PandarQTDecoder : public PacketDecoder
 
   PandarQTDecoder(Calibration& calibration, float scan_phase = 0.0f, double dual_return_distance_threshold = 0.1, ReturnMode return_mode = ReturnMode::DUAL);
   void unpack(const pandar_msgs::PandarPacket& raw_packet) override;
-  PointXYZIRADT build_point(int block_id, int unit_id, int8_t return_type);
+  PointXYZIRADT build_point(int block_id, int unit_id, uint8_t return_type);
   bool hasScanned() override;
   PointcloudXYZIRADT getPointcloud() override;
 

diff --git a/pandar_pointcloud/include/pandar_pointcloud/point_types.hpp b/pandar_pointcloud/include/pandar_pointcloud/point_types.hpp
@@ -20,7 +20,7 @@ struct PointXYZIRADT
   uint16_t ring;
   float azimuth;
   float distance;
-  int8_t return_type;
+  uint8_t return_type;
   double time_stamp;
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 } EIGEN_ALIGN16;
@@ -34,8 +34,12 @@ POINT_CLOUD_REGISTER_POINT_STRUCT(pandar_pointcloud::PointXYZIR,
                                                                                                        ring, ring))
 
 POINT_CLOUD_REGISTER_POINT_STRUCT(pandar_pointcloud::PointXYZIRADT,
-                                  (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(
-                                      std::uint16_t, ring, ring)(float, azimuth, azimuth)(float, distance,
-                                                                                          distance)(int8_t, return_type,
-                                                                                          return_type)(double, time_stamp,
-                                                                                                        time_stamp))
+                                  (float, x, x)
+                                  (float, y, y)
+                                  (float, z, z)
+                                  (float, intensity, intensity)
+                                  (std::uint16_t, ring, ring)
+                                  (float, azimuth, azimuth)
+                                  (float, distance, distance)
+                                  (std::uint8_t, return_type, return_type)
+                                  (double, time_stamp, time_stamp))
diff --git a/pandar_pointcloud/src/lib/decoder/pandar40_decoder.cpp b/pandar_pointcloud/src/lib/decoder/pandar40_decoder.cpp
@@ -95,7 +95,7 @@ void Pandar40Decoder::unpack(const pandar_msgs::PandarPacket& raw_packet)
   return;
 }
 
-PointXYZIRADT Pandar40Decoder::build_point(int block_id, int unit_id, int8_t return_type)
+PointXYZIRADT Pandar40Decoder::build_point(int block_id, int unit_id, uint8_t return_type)
 {
   const auto& block = packet_.blocks[block_id];
   const auto& unit = block.units[unit_id];

diff --git a/pandar_pointcloud/src/lib/decoder/pandar64_decoder.cpp b/pandar_pointcloud/src/lib/decoder/pandar64_decoder.cpp
@@ -97,7 +97,7 @@ namespace pandar_pointcloud
       }
     }
 
-    PointXYZIRADT Pandar64Decoder::build_point(int block_id, int unit_id, int8_t return_type)
+    PointXYZIRADT Pandar64Decoder::build_point(int block_id, int unit_id, uint8_t return_type)
     {
       const auto& block = packet_.blocks[block_id];
       const auto& unit = block.units[unit_id];

diff --git a/pandar_pointcloud/src/lib/decoder/pandar_qt_decoder.cpp b/pandar_pointcloud/src/lib/decoder/pandar_qt_decoder.cpp
@@ -95,7 +95,7 @@ void PandarQTDecoder::unpack(const pandar_msgs::PandarPacket& raw_packet)
   return;
 }
 
-PointXYZIRADT PandarQTDecoder::build_point(int block_id, int unit_id, int8_t return_type)
+PointXYZIRADT PandarQTDecoder::build_point(int block_id, int unit_id, uint8_t return_type)
 {
   const auto& block = packet_.blocks[block_id];
   const auto& unit = block.units[unit_id];