learn pcl 03

前两篇是在做independent study topic presentation时所学习。 现在开始进入正式学习，都是按照pcl网站上的tutorial。所以这些文章也只是笔记。

Adding your own custom PointT type

• PointXYZ - Members: float x, y, z;

  This is one of the most used data types, as it represents 3D xyz information only. The 3 floats are padded with an additional float for SSE alignment. The user can either access points[i].data[0] or points[i].x for accessing say, the x coordinate.

union
{
  float data[4];
  struct
  {
    float x;
    float y;
    float z;
  };
};

How to add a new PointT type

Example

The following code snippet example creates a new point type that contains XYZ data (SSE padded), together with a test float.

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#include <pcl/point_types.h> #include <pcl/point_cloud.h> #include <pcl/io/pcd_io.h> struct MyPointType { PCL_ADD_POINT4D; // preferred way of adding a XYZ+padding float test; EIGEN_MAKE_ALIGNED_OPERATOR_NEW // make sure our new allocators are aligned } EIGEN_ALIGN16; // enforce SSE padding for correct memory alignment POINT_CLOUD_REGISTER_POINT_STRUCT (MyPointType, // here we assume a XYZ + "test" (as fields) (float, x, x) (float, y, y) (float, z, z) (float, test, test) ) int main (int argc, char** argv) { pcl::PointCloud<MyPointType> cloud; cloud.points.resize (2); cloud.width = 2; cloud.height = 1; cloud.points[0].test = 1; cloud.points[1].test = 2; cloud.points[0].x = cloud.points[0].y = cloud.points[0].z = 0; cloud.points[1].x = cloud.points[1].y = cloud.points[1].z = 3; pcl::io::savePCDFile ("test.pcd", cloud); }