PointCloud Field

[Guo-hk]

Thank you for your very nice work. How did you achieve the adaptation of multiple LiDAR PointCloud channel?

namespace dlio {
  enum class SensorType { OUSTER, VELODYNE, HESAI, LIVOX, UNKNOWN };

  class OdomNode;
  class MapNode;

  struct Point {
    Point(): data{0.f, 0.f, 0.f, 1.f} {}

    PCL_ADD_POINT4D;
    float intensity; // intensity
    union {
    std::uint32_t t;   // (Ouster) time since beginning of scan in nanoseconds
    float time;        // (Velodyne) time since beginning of scan in seconds
    double timestamp;  // (Hesai) absolute timestamp in seconds
                       // (Livox) absolute timestamp in (seconds * 10e9)
    };
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  } EIGEN_ALIGN16;
}

POINT_CLOUD_REGISTER_POINT_STRUCT(dlio::Point,
                                 (float, x, x)
                                 (float, y, y)
                                 (float, z, z)
                                 (float, intensity, intensity)
                                 (std::uint32_t, t, t)
                                 (float, time, time)
                                 (double, timestamp, timestamp))

When I tried to mimic your approach, I encountered the following warning:

Failed to find match for field 't'. 
Failed to find match for field 'time'.