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For RoboSense LiDAR SDK Library
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#pragma once

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

typedef pcl::PointXYZI PointXYZI;

struct PointXYZIRT
{
  PCL_ADD_POINT4D;
  uint8_t intensity;
  uint16_t ring = 0;
  double timestamp = 0;
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGEN_ALIGN16;

POINT_CLOUD_REGISTER_POINT_STRUCT(PointXYZIRT, (float, x, x)(float, y, y)(float, z, z)
    (std::uint8_t, intensity, intensity)(std::uint16_t, ring, ring)(double, timestamp, timestamp))

template <typename T_Point>
class PointCloudT : public pcl::PointCloud<T_Point>
{
public:
  typedef T_Point PointT;
  typedef typename pcl::PointCloud<T_Point>::VectorType VectorT;

  double timestamp = 0.0;
  //std::string frame_id = "";  ///< Point cloud frame id
  uint32_t seq = 0;           ///< Sequence number of message
};

