add a point type

src/struct_pb/protoc-plugin/example/tutorial.cpp

@@ -5,6 +5,52 @@
 
 // #include "addressbook.struct_pb.h"
 #include "imu.struct_pb.h"
+#include <pcl/compression/organized_pointcloud_compression.h>
+
+#include <pcl/point_types.h>
+namespace pcl 
+{
+struct EIGEN_ALIGN16 _PointXYZIT {
+  PCL_ADD_POINT4D  // This adds the members x,y,z which can also be accessed
+                   // using the point (which is float[4])
+  union {
+    struct {
+      float intensity;
+      float dt;  // 添加 intensity 属性
+    };
+    float data_c[4];
+  };
+  PCL_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+struct PointXYZIT : public _PointXYZIT
+{
+  inline constexpr PointXYZIT (const _PointXYZIT &p) : PointXYZIT{p.x, p.y, p.z, p.intensity, p.dt} {}
+
+  inline constexpr PointXYZIT (float _intensity = 0.f, float _dt = 0.f) : PointXYZIT(0.f, 0.f, 0.f, _intensity,_dt) {}
+
+  inline constexpr PointXYZIT (float _x, float _y, float _z, float _intensity = 0.f, float _dt = 0.f) : _PointXYZIT{{{_x, _y, _z, 1.0f}}, {{_intensity,_dt}}} {}
+
+  friend std::ostream& operator << (std::ostream& os, const PointXYZIT& p);
+};
+
+inline std::ostream& operator << (std::ostream& os, const PointXYZIT& p)
+{
+    os << "(" << p.x << "," << p.y << "," << p.z << " - " << p.intensity <<" " << p.dt << ")";
+    return (os); 
+}
+
+}
+
+// 声明 PCL 的宏定义以实现点类型
+POINT_CLOUD_REGISTER_POINT_STRUCT(pcl::PointXYZIT,               // 自定义点类型的名称
+                                  (float, x, x)             // 属性 x
+                                  (float, y, y)             // 属性 y
+                                  (float, z, z)             // 属性 z
+                                  (float, intensity, intensity) // 属性 intensity
+                                  (float, dt, dt) // 属性 dt
+)
+
 
 int main() {
 
@@ -13,17 +59,20 @@ int main() {
   inner_struct::ZImu imu3 = converter::ClassToStruct(imu2);
 
 
-  std::cout << imu1 << std::endl;
-  std::cout << imu2.ShortDebugString() << std::endl;
-  std::cout << imu3 << std::endl;
+  // std::cout << imu1 << std::endl;
+  // std::cout << imu2.ShortDebugString() << std::endl;
+  // std::cout << imu3 << std::endl;
 
 
   // inner_struct::ZPointCloudXYZI pc1;
   // pc1.points.push_back(pcl::PointXYZI());
   // pc1.points.push_back(pcl::PointXYZI());
   // pcl::PointXYZI p1;
+  pcl::PointXYZI p1 {1};
+  std::cout << p1 << std::endl;
 
-  // std::cout << p1 << std::endl;
+  pcl::PointXYZIT p2 {1,2};
+  std::cout << p2 << std::endl;
 
 
   std::cout << "Done!!!" << std::endl;