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00001 /* -*- mode: C++ -*- 00002 * 00003 * Copyright (C) 2011, 2012 Austin Robot Technology 00004 * 00005 * License: Modified BSD Software License Agreement 00006 * 00007 * $Id: data_base.h 1554 2011-06-14 22:11:17Z jack.oquin $ 00008 */ 00009 00019 #ifndef __VELODYNE_POINTCLOUD_POINT_TYPES_H 00020 #define __VELODYNE_POINTCLOUD_POINT_TYPES_H 00021 00022 #include <pcl/point_types.h> 00023 00024 namespace velodyne_pointcloud 00025 { 00027 struct PointXYZIR 00028 { 00029 PCL_ADD_POINT4D; // quad-word XYZ 00030 float intensity; 00031 uint16_t ring; 00032 EIGEN_MAKE_ALIGNED_OPERATOR_NEW // ensure proper alignment 00033 } EIGEN_ALIGN16; 00034 00035 }; // namespace velodyne_pointcloud 00036 00037 00038 POINT_CLOUD_REGISTER_POINT_STRUCT(velodyne_pointcloud::PointXYZIR, 00039 (float, x, x) 00040 (float, y, y) 00041 (float, z, z) 00042 (float, intensity, intensity) 00043 (uint16_t, ring, ring)) 00044 00045 #endif // __VELODYNE_POINTCLOUD_POINT_TYPES_H 00046