UrbanLoco
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How can I parse RS-LiDAR32 data?
Hi, thank you for your great dataset. I have a question, how can I parse RS-LiDAR32 data? Could please you provide a sample code like this?
struct PointXYZIT {
float x;
float y;
float z;
unsigned char intensity;
double timestamp;
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGEN_ALIGN16;
POINT_CLOUD_REGISTER_POINT_STRUCT (PointXYZIT,
(float, x, x)
(float, y, y)
(float, z, z)
(uint8_t, intensity, intensity)
(double, timestamp, timestamp)
)
Hi @yuhui-xie , this LiDAR data is provided with the ROS PointCloud2 format which is easy to access (should be).
Best, Weisong,