Support for more pcl point types

[HSarham]

Hi,

I was wondering if you could add support for more point types? For example, I would like to use pcl::PointXYZRGBNormal but it is not possible.

Cheers

[koide3]

Hi @HSarham ,
You can include gicp/impl/*_impl.hpp to use the point types you want to use. You can also add them to fast_gicp.cpp.

https://github.com/SMRT-AIST/fast_gicp/blob/master/src/fast_gicp/gicp/fast_gicp.cpp

[aiai84]

Hi ,
Have you use pcl::PointXYZRGBNormal? Did it work better?
Cheers

[koide3]

Hi @aiai84 ,
You can feed any type of points to FastGICP, but it doesn't use any information other than XYZ coordinates.