Narrowed reflectivity from uint16_t to uint8_t in v0.14.0

Software
1

Hello,

I am using Ouster sensors in a set of projects and I am currently updating my Ouster driver to v0.14.0. I saw in the changelog that Point_RNG19_RFL8_SIG16_NIR16 has narrowed reflectivity from uint16_t to uint8_t and have a question regarding a custom point type that I have since before, it is defined as follows:

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When updating to the new driver, do I need to change my reflectivity field from uint16_t to uint8_t? Or could I keep it as uint16_t? I guess this depends if the range of the type I am using is somehow important for the calibration value?

Any directions on how to update my custom point to support v0.14.0 would be greatly appreciated.

2

The range of values shouldn’t change for you .. we were using uint16_t to represent REFLECTIVITY needlessly .. so the answer is yes, you better change since it would help you reduce the final pointcloud memory footprint and when you transport it you save on bandwidth.

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