point_types.h
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00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2013, Ryohei Ueda and JSK Lab
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00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
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00034 
00035 // -*- mode: c++ -*-
00036 #ifndef JSK_PCL_ROS_POINT_TYPES_H__
00037 #define JSK_PCL_ROS_POINT_TYPES_H__
00038 #include <pcl/point_types.h>
00039 namespace pcl
00040 {
00041 
00042 #define  HSV_C_STRUCT union {                   \
00043         struct {                                \
00044             float hue;                          \
00045             float saturation;                   \
00046             float value;                        \
00047         };                                      \
00048         float data_c[4];                        \
00049     }
00050 
00051     // type for HSV
00052     struct PointXYZHSV
00053     {
00054         PCL_ADD_POINT4D;
00055         HSV_C_STRUCT;
00056         EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00057     } EIGEN_ALIGN16;
00058 
00059     struct PointHSV
00060     {
00061         HSV_C_STRUCT;
00062         EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00063     } EIGEN_ALIGN16;
00064     
00065     struct PointRGB
00066     {
00067         float rgb;
00068         EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00069     } EIGEN_ALIGN16;
00070 }
00071 
00072 // register the point types into PCL
00073 POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PointRGB,
00074                                    (float, rgb, rgb));
00075 
00076 POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PointHSV,
00077                                    (float, hue, hue)
00078                                    (float, saturation, saturation)
00079                                    (float, value, value));
00080 
00081 POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PointXYZHSV,
00082                                    (float, x, x)
00083                                    (float, y, y)
00084                                    (float, z, z)
00085                                    (float, hue, hue)
00086                                    (float, saturation, saturation)
00087                                    (float, value, value));
00088 
00089 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Sun Oct 8 2017 02:43:50