pointcloud

Describe the error

pcl::PointXYZ is implemented as a union-like structure and has a field .data.
pcl::PointXY is however implemented as a “pure” structure and does not have a .data field.

To Reproduce

The result of this inconsistency are a weird compilation errors for the following code:

#include <pcl/point_types.h>
#include <pcl/common/transforms.h>

int main()
{

the .pcd file format allows for fields to be extended. this means it can neatly hold data about the label or object of a point. this can be very handy for ML tasks. However, the open3d file io does not appear to be able to read other fields other than the xyz, rgb, normals etc . I haven't been able to find where in the open3d structure the code for the file io pcd loading is implemented to att

I was looking into correctly binding PointCloudLayer properties with PointsMaterial, to avoid having (beside a few other things) this part. This resulted in a bigger challenge than I thought, because we have a few properties that already have definition. I can cite opacity

Hello, where can I download this dataset?