PCL自定义点类型

point.h

#pragma once

#include <pcl/point_types.h>

struct PointXYZIDRALT { // 定义点类型结构
  PCL_ADD_POINT4D; // 该点类型有4个元素
  float intensity = 0.0;
  float distance = 0.0;
  uint16_t ring = 0;
  uint16_t angle = 0;
  uint16_t label = 0;
  double timestamp = 0.0;
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW // 确保new操作符对齐操作
} EIGEN_ALIGN16; // 强制SSE对齐


POINT_CLOUD_REGISTER_POINT_STRUCT( // 注册点类型宏
    PointXYZIDRALT,
    (float, x, x)
    (float, y, y)
    (float, z, z)
    (float, intensity, intensity)
    (float, distance, distance)
    (uint16_t, ring, ring)
    (uint16_t, angle, angle)
    (uint16_t, label, label)
    (double, timestamp, timestamp)
)

test.cc

#include "point.h"
#include <pcl/point_cloud.h>

int main(int argc, char **argv) {
  pcl::PointCloud<PointXYZIDRALT> cloud;
  PointXYZIDRALT point;
  point.x = point.y = point.z = 0;
  point.intensity = 255;
  point.distance = 100;
  point.ring = 0;
  point.angle = 0;
  point.label = 0;
  point.timestamp = 0;
  cloud.push_back(point);
}