[ros-users] POINT_CLOUD_REGISTER_POINT_STRUCT and using templated user defined points

Radu Bogdan Rusu rusu at willowgarage.com
Sun Feb 13 19:07:47 UTC 2011


There are a few point types that contain arrays. Look at pcl/point_types.h for an example.

You're right in the sense that this has to be done at compile time and not at runtime.


On 02/13/2011 10:52 AM, kadir wrote:
> Radu,
> Thank you for the links. I partially solved the problem and skipped the part
> regarding the type-definition for the moment. What I did is as follows:
> template<int how_many>
>          struct FeaturePoint{
>          float a;
>          float b;
>          float c;
>          float d[how_many]
> };
> #define HOW_MANY an_int_value
>          pcl::FeaturePoint<HOW_MANY>,
>          (float,   a, a)
>          (float,   b, b)
>          (float,   c, c)
>          (float[HOW_MANY],d, d));
> But of course, this is not sth that I want at the end. Since I cannot change
> values of macros or const declarations at run time, I cannot add different
> sized  "FeaturePoint"s to the PointCloud2 structure. I have to define each
> FeaturePoint having different sized "d" member and register them one by one
> to achieve this purpose.
> Later,
> -Kadir-

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