Avoid point cloud copies

[esteve]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I've agreed with the maintainers that I can plan this task.

Description

There are places in the code where a temporary point cloud is created and used to generate an output, which involves unnecessary copying. For context, see https://github.com/autowarefoundation/autoware.universe/issues/998

Purpose

Avoid unnecessary copying of point clouds.

Possible approaches

Depends on each code block where this issue is happening.

Definition of done

Processing of point clouds is done in place instead of copying.

[mitsudome-r]

We should also use point_cloud_msg_wrapper like in Autoware.Auto to have more efficient pointcloud manipulation.

[mitsudome-r]

We would like to investigate if there are unnecessary copies in the following files (link)

src/universe/autoware.universe/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp
src/universe/autoware.universe/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp
src/universe/autoware.universe/sensing/pointcloud_preprocessor/src/filter.cpp
src/universe/autoware.universe/sensing/pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp
src/universe/autoware.universe/sensing/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp
src/universe/vendor/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp

[stale[bot]]

This pull request has been automatically marked as stale because it has not had recent activity.

[esteve]

Closing as this is a very old issue.