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Allow specifying POINT_TYPE as cmake option #207

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Allow specifying POINT_TYPE as cmake option #207

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4 changes: 3 additions & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,9 @@ project(rslidar_sdk)
#=======================================
# Custom Point Type (XYZI,XYZIRT, XYZIF, XYZIRTF)
#=======================================
set(POINT_TYPE XYZI)
if(NOT POINT_TYPE)
set(POINT_TYPE XYZI)
endif()

option(ENABLE_TRANSFORM "Enable transform functions" OFF)
if(${ENABLE_TRANSFORM})
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16 changes: 14 additions & 2 deletions doc/howto/05_how_to_change_point_type.md
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Expand Up @@ -6,13 +6,25 @@

This document illustrates how to change the point type.

In ```CMakeLists.txt``` of the project, change the variable `POINT_TYPE`. Remember to **rebuild** the project after changing it.
In `CMakeLists.txt` of the project, the point type is defined using the `POINT_TYPE` variable.

```cmake
#=======================================
# Custom Point Type (XYZI,XYZIRT, XYZIF, XYZIRTF)
#=======================================
set(POINT_TYPE XYZI)
if(NOT POINT_TYPE)
set(POINT_TYPE XYZI)
endif()
```

You can edit this file to replace the default value `XYZI` by the desired one.
Remember to **rebuild** the project after changing it.

It is also possible to specify it from the command line by specifying it as a cmake option.
For example, in ROS2, to use `XYZIRTF`, the colcon command is:

```
colcon build --packages-select rslidar_sdk --cmake-args -DPOINT_TYPE=XYZIRTF
```


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