Struct Rosbag2PointCloudSource 

pub struct Rosbag2PointCloudSource { /* private fields */ }

Bounded, deterministic PointCloud2 XYZ/XYZI source backed by rosbag2 SQLite.

The SQLite connection is opened read-only. One selected topic is traversed in (timestamp, id) order. A PointCloud2 message may be split into several leased chunks when it exceeds StreamOptions::chunk_points().

Implementations

impl Rosbag2PointCloudSource

pub fn open( path: impl AsRef<Path>, topic_name: &str, options: StreamOptions, cancellation: CancellationToken, ) -> Rosbag2Result<Self>

Opens one PointCloud2 topic from a rosbag2 SQLite file.

pub fn topic(&self) -> &Rosbag2Topic

Returns the selected topic metadata.

pub const fn max_message_bytes(&self) -> u64

Returns the largest raw CDR payload in the selected topic.

Trait Implementations

impl BoundedSpatialRecordSource for Rosbag2PointCloudSource

fn schema(&self) -> &SchemaDescriptor

Schema shared by every emitted record.

fn options(&self) -> &StreamOptions

Validated execution options.

fn memory_tracker(&self) -> &MemoryTracker

Exact tracker shared by emitted chunk leases.

fn cancellation_token(&self) -> CancellationToken

Cooperative cancellation state checked at chunk boundaries.

fn max_chunk_bytes(&self) -> u64

Conservative maximum resident bytes for one emitted chunk.

fn next_chunk(&mut self) -> Option<RecordsResult<SpatialRecordChunk>>

Returns the next leased chunk, or None after an explicit end.