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00001 00060 #ifndef IPA_POINT_TYPES_H_ 00061 #define IPA_POINT_TYPES_H_ 00062 00063 #include <pcl/ros/register_point_struct.h> 00064 #include <pcl/point_types.h> 00065 //#include <ros/ros.h> 00066 00067 using namespace pcl; 00068 00069 struct PointXYZCI; 00070 00071 struct PointXYZA; 00072 00073 struct PointXYZRGBF; 00074 00075 struct PointLabel; 00076 00077 #include "cob_3d_mapping_common/impl/point_types.hpp" 00078 00079 //Point obtained from Swissranger devices, confidence only used for SR2 00080 POINT_CLOUD_REGISTER_POINT_STRUCT( 00081 PointXYZCI, 00082 (float, x, x) 00083 (float, y, y) 00084 (float, z, z) 00085 (float, confidence, confidence) 00086 (float, intensity, intensity)); 00087 00088 //Point obtained from Camboard 00089 POINT_CLOUD_REGISTER_POINT_STRUCT( 00090 PointXYZA, 00091 (float, x, x) 00092 (float, y, y) 00093 (float, z, z) 00094 (float, amplitude, amplitude)); 00095 00096 POINT_CLOUD_REGISTER_POINT_STRUCT( 00097 PointXYZRGBF, 00098 (float, x, x) 00099 (float, y, y) 00100 (float, z, z) 00101 (float, rgb, rgb) 00102 (uint8_t, isF, isF)); 00103 00104 POINT_CLOUD_REGISTER_POINT_STRUCT( 00105 PointLabel, 00106 (int, label, label)); 00107 00108 #endif /* IPA_POINT_TYPES_H_ */