How can I parse RS-LiDAR32 data?

[yuhui-xie]

Hi, thank you for your great dataset. I have a question, how can I parse RS-LiDAR32 data? Could please you provide a sample code like this?

struct PointXYZIT {
    float x;
    float y;
    float z;
    unsigned char intensity;
    double timestamp;
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW 
} EIGEN_ALIGN16;

POINT_CLOUD_REGISTER_POINT_STRUCT (PointXYZIT,
                                    (float, x, x)
                                    (float, y, y)
                                    (float, z, z)
                                    (uint8_t, intensity, intensity)
                                    (double, timestamp, timestamp)
                                    )

[weisongwen]

Hi @yuhui-xie , this LiDAR data is provided with the ROS PointCloud2 format which is easy to access (should be).

Best,
Weisong,