自定义点云格式

nmzx

于 2021-11-29 13:46:32 发布

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分类专栏： ros 文章标签：自动驾驶人工智能机器学习

本文链接：https://blog.youkuaiyun.com/u012899885/article/details/121608050

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#include <ros/ros.h>

#include <pcl_ros/point_cloud.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/io/pcd_io.h>

struct PointXYZIRPYT
{
  PCL_ADD_POINT4D
  PCL_ADD_INTENSITY;
  float roll;
  float pitch;
  float yaw;
  double time;
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGEN_ALIGN16;

POINT_CLOUD_REGISTER_POINT_STRUCT(PointXYZIRPYT, (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(float, roll, roll)(float, pitch, pitch)(float, yaw, yaw)(double, time, time))

using PointTPose = PointXYZIRPYT;