modularization/src/fusion/fusion_pointcloud_shenlan/lidarmerge.h

#ifndef LIDARMERGE_H
#define LIDARMERGE_H

#include <pcl/common/io.h>

#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>



namespace  iv {
struct lidar_data
{
    char strmemname[256];
    double foff_x = 0.0;
    double foff_y = 0.0;
    double foff_z = 0.0;
    double foff_angle = 0.0;
    bool bUpdate = false;
    double fmax_x = 0;
    double fmax_y = 0;
    double fmax_z = 0;
    double fmin_x = 0;
    double fmin_y = 0;
    double fmin_z = 0;
    double fignore_xmax = 0;
    double fignore_ymax = 0;
    double fignore_xmin = 0;
    double fignore_ymin = 0;
    double fignore_zmax = 0;
    double fignore_zmin = 0;
    pcl::PointCloud<pcl::PointXYZI>::Ptr mpoint_cloud = NULL;
    int64_t mupdatetime = 0;
    pcl::PointCloud<pcl::PointXYZI>::Ptr mpoint_cloud_old = NULL;
};

}

pcl::PointCloud<pcl::PointXYZI>::Ptr mergefunc(std::vector<iv::lidar_data> xvectorlidar);
#endif // LIDARMERGE_H