point_types.hpp

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#ifndef IPA_POINT_TYPES_HPP_
#define IPA_POINT_TYPES_HPP_

//using namespace pcl;

//Point obtained from Swissranger
struct PointXYZCI
{
        PCL_ADD_POINT4D;
        union
        {
                struct
                {
                        float confidence;
                        float intensity;
                };
                float data_c[4];
        };
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGEN_ALIGN16;


//Point obtained from Camboard
struct PointXYZA
{
        PCL_ADD_POINT4D;
        union
        {
                struct
                {
                        float amplitude;
                };
                float data_c[4];
        };
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGEN_ALIGN16;

struct PointXYZRGBF
{
        PCL_ADD_POINT4D;
        union
        {
                struct
                {
                        float rgb;
                        uint8_t isF;
                };
                float data_c[4];
        };
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGEN_ALIGN16;

struct PointLabel
{
        int label;
};



#endif /* IPA_POINT_TYPES_HPP_ */