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SW-5466: Support Velodyne and other point types in ouster-ros driver (o…
…uster-lidar#216) * Quick protoype of Velodyne point type * Add PointXYZIR point type + other major pcl point types * Include point meta functions and point transform by the ouster_ros namesapce * Wrap point meta functions with a namespace and use shorter names for the functions + * Add a seed test module for the point_cloud_compose methods + Add description for the point_cloud_compose methods + refactor code and add compile time checks. * Propagate error state, warn about potential incompatible profile, propagate error state * Add minimal documentation about the new `point_type` parameter.
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| Original file line number | Diff line number | Diff line change |
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| /** | ||
| * Copyright (c) 2018-2023, Ouster, Inc. | ||
| * All rights reserved. | ||
| * | ||
| * @file common_point_types.h | ||
| * @brief common PCL point datatype for use with ouster sensors | ||
| */ | ||
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| #pragma once | ||
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| #include <pcl/point_types.h> | ||
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| namespace ouster_ros { | ||
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| /* The following are pcl point representations that are common/standard point | ||
| representation that we readily support. | ||
| */ | ||
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| /* | ||
| * Same as Velodyne point cloud type | ||
| * @remark XYZIR point type is not compatible with RNG15_RFL8_NIR8/LOW_DATA | ||
| * udp lidar profile. | ||
| */ | ||
| struct EIGEN_ALIGN16 _PointXYZIR { | ||
| PCL_ADD_POINT4D; | ||
| float intensity; | ||
| uint16_t ring; | ||
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| }; | ||
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| struct PointXYZIR : public _PointXYZIR { | ||
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| inline PointXYZIR(const _PointXYZIR& pt) | ||
| { | ||
| x = pt.x; y = pt.y; z = pt.z; data[3] = 1.0f; | ||
| intensity = pt.intensity; ring = pt.ring; | ||
| } | ||
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| inline PointXYZIR() | ||
| { | ||
| x = y = z = 0.0f; data[3] = 1.0f; | ||
| intensity = 0.0f; ring = 0; | ||
| } | ||
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| inline const auto as_tuple() const { | ||
| return std::tie(x, y, z, intensity, ring); | ||
| } | ||
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| inline auto as_tuple() { | ||
| return std::tie(x, y, z, intensity, ring); | ||
| } | ||
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| template<size_t I> | ||
| inline auto& get() { | ||
| return std::get<I>(as_tuple()); | ||
| } | ||
| }; | ||
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| } // namespace ouster_ros | ||
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| // clang-format off | ||
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| /* common point types */ | ||
| POINT_CLOUD_REGISTER_POINT_STRUCT(ouster_ros::PointXYZIR, | ||
| (float, x, x) | ||
| (float, y, y) | ||
| (float, z, z) | ||
| (float, intensity, intensity) | ||
| (std::uint16_t, ring, ring) | ||
| ) | ||
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| // clang-format on |
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