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- #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
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