point_types.h

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#ifndef IPA_POINT_TYPES_H_
#define IPA_POINT_TYPES_H_

#include <pcl/ros/register_point_struct.h>
#include <pcl/point_types.h>
//#include <ros/ros.h>

using namespace pcl;

struct PointXYZCI;

struct PointXYZA;

struct PointXYZRGBF;

struct PointLabel;

#include "cob_3d_mapping_common/impl/point_types.hpp"

POINT_CLOUD_REGISTER_POINT_STRUCT(
        PointXYZCI,
  (float, x, x)
  (float, y, y)
  (float, z, z)
  (float, confidence, confidence)
  (float, intensity, intensity));

//Point obtained from Camboard
POINT_CLOUD_REGISTER_POINT_STRUCT(
        PointXYZA,
  (float, x, x)
  (float, y, y)
  (float, z, z)
  (float, amplitude, amplitude));

POINT_CLOUD_REGISTER_POINT_STRUCT(
        PointXYZRGBF,
  (float, x, x)
  (float, y, y)
  (float, z, z)
  (float, rgb, rgb)
  (uint8_t, isF, isF));

POINT_CLOUD_REGISTER_POINT_STRUCT(
        PointLabel,
  (int, label, label));

#endif /* IPA_POINT_TYPES_H_ */