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feat(pointcloud_preprocessor)!: revert "fix: added temporary retrocom…
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…patibility to old perception data (#7929)" (#8397)

* feat!(pointcloud_preprocessor): Revert "fix: added temporary retrocompatibility to old perception data (#7929)"

This reverts commit 6b9f164.

Signed-off-by: Shin-kyoto <[email protected]>

* feat(pointcloud_preprocessor): minor grammar fix

Co-authored-by: David Wong <[email protected]>

---------

Signed-off-by: Shin-kyoto <[email protected]>
Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>
Co-authored-by: David Wong <[email protected]>
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3 people authored Aug 19, 2024
1 parent 56ba7f9 commit 5e1188f
Showing 1 changed file with 2 additions and 9 deletions.
11 changes: 2 additions & 9 deletions sensing/autoware_pointcloud_preprocessor/src/filter.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -359,19 +359,12 @@ bool autoware::pointcloud_preprocessor::Filter::convert_output_costly(
void autoware::pointcloud_preprocessor::Filter::faster_input_indices_callback(
const PointCloud2ConstPtr cloud, const PointIndicesConstPtr indices)
{
// TODO(knzo25): This first branch is to give temporary compatibility with old perception data.
// Should be deleted soon
if (utils::is_data_layout_compatible_with_point_xyzi(*cloud)) {
RCLCPP_ERROR_THROTTLE(
get_logger(), *get_clock(), 10000,
"The pointcloud layout is compatible with PointXYZI. You may be using legacy "
"code/data. Continue at your own risk");
} else if (
if (
!utils::is_data_layout_compatible_with_point_xyzircaedt(*cloud) &&
!utils::is_data_layout_compatible_with_point_xyzirc(*cloud)) {
RCLCPP_ERROR(
get_logger(),
"The pointcloud layout is not compatible with PointXYZIRCAEDT/PointXYZIRC. Aborting");
"The pointcloud layout is not compatible with PointXYZIRCAEDT or PointXYZIRC. Aborting");

if (utils::is_data_layout_compatible_with_point_xyziradrt(*cloud)) {
RCLCPP_ERROR(
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