PCL创建新的点类型

下面的代码片段示例创建一个新的点类型，其中包含XYZ数据（填充了SSE）以及一个测试浮点。

#define PCL_NO_PRECOMPILE
#include <pcl/pcl_macros.h>
#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;
  PCL_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);
}

参考文章：
http://pointclouds.org/documentation/tutorials/adding_custom_ptype.php#how-to-add-a-new-pointt-type