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00001 /* 00002 * cpc_point.h 00003 * 00004 * Created on: 26.08.2010 00005 * Author: goa 00006 */ 00007 00008 #ifndef SRS_POINT_TYPES_H_ 00009 #define SRS_POINT_TYPES_H_ 00010 00011 #include <pcl/ros/register_point_struct.h> 00012 #include <pcl/point_types.h> 00013 //#include <ros/ros.h> 00014 00015 using namespace pcl; 00016 00017 struct PointSURF; 00018 00019 00020 #include "srs_object_database_msgs/impl/point_types.cpp" 00021 00022 //Point obtained from Swissranger devices, confidence only used for SR2 00023 POINT_CLOUD_REGISTER_POINT_STRUCT( 00024 PointSURF, 00025 (float, x, x) 00026 (float, y, y) 00027 (float, z, z) 00028 (uint32_t, rgbr, rgbr) 00029 (uint32_t, rgbg, rgbg) 00030 (uint32_t, rgbb, rgbb) 00031 (uint32_t , id, id) 00032 (float , confidence,confidence) 00033 (float[64], descriptor, descriptor)); 00034 00035 POINT_CLOUD_REGISTER_POINT_STRUCT( 00036 PointPLY, 00037 (float, x, x) 00038 (float, y, y) 00039 (float, z, z) 00040 (uint32_t, rgbr, rgbr) 00041 (uint32_t, rgbg, rgbg) 00042 (uint32_t, rgbb, rgbb)); 00043 00044 #endif /* SRS_POINT_TYPES_H_ */