PCL：添加自定义点类型

Posted 2021-10-10 没事就要敲代码

简单记录一下

#define PCL_NO_PRECOMPILE
#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 确保new操作符对齐操作
} EIGEN_ALIGN16;									// enforce SSE padding for correct memory alignment 强制SSE对齐

POINT_CLOUD_REGISTER_POINT_STRUCT(MyPointType,		// here we assume a XYZ + "test" (as fields)  注册点类型宏
(float, x, x)
(float, y, y)
(float, z, z)
(float, test, test)
)


int main()
{
	pcl::PointCloud<MyPointType> cloud;
	cloud.resize(2);
	cloud.width = 2;
	cloud.height = 1;

	cloud[0].test = 1;
	cloud[1].test = 2;
	cloud[0].x = cloud[0].y = cloud[0].z = 0;
	cloud[1].x = cloud[1].y = cloud[1].z = 3;

	pcl::io::savePCDFile("test.pcd", cloud);

	return 0;
}

官网链接：http://pointclouds.org/documentation/tutorials/adding_custom_ptype.html#adding-custom-ptype