Define custom pcl point_type to have beam origin

at-wat / mcl_3dl

A ROS node to perform a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s). It implements pointcloud based Monte Carlo localization that uses a reference pointcloud as a map.

BSD 3-Clause "New" or "Revised" License

490 stars 117 forks source link

Define custom pcl point_type to have beam origin #200

Closed at-wat closed 5 years ago

at-wat commented 6 years ago

Current implementation stores id in intensity field. The type should have beam_origin_id.

at-wat commented 6 years ago

PointXYZIL (xyz, intensity, label)