Program Listing for File point.h

↰ Return to documentation for file (include/ros2_ouster/client/point.h)

#pragma once
#define PCL_NO_PRECOMPILE
#include <pcl/point_types.h>

#include <Eigen/Eigen>
#include <chrono>
#include <functional>

#include "ros2_ouster/client/lidar_scan.h"

namespace ouster_ros {

  struct EIGEN_ALIGN16 Point
  {
    PCL_ADD_POINT4D;
    float intensity;
    uint32_t t;
    uint16_t reflectivity;
    uint8_t ring;
    uint16_t ambient;
    uint32_t range;
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}  // namespace ouster_ros

// clang-format off
POINT_CLOUD_REGISTER_POINT_STRUCT(
  ouster_ros::Point,
  (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)
  // use std::uint32_t to avoid conflicting with pcl::uint32_t
    (std::uint32_t, t, t)(std::uint16_t, reflectivity, reflectivity)(
    std::uint8_t, ring,
    ring)(std::uint16_t, ambient, ambient)(std::uint32_t, range, range)
)
// clang-format on