Program Listing for File os_point.h
↰ Return to documentation for file (include/ouster_ros/os_point.h
)
#pragma once
#include <pcl/point_types.h>
#include <Eigen/Core>
#include <chrono>
#include <ouster/lidar_scan.h>
namespace ouster_ros {
struct EIGEN_ALIGN16 Point {
PCL_ADD_POINT4D;
float intensity;
uint32_t t;
uint16_t reflectivity;
uint16_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::uint16_t, ring, ring)
(std::uint16_t, ambient, ambient)
(std::uint32_t, range, range)
)
// clang-format on