Program Listing for File point_os.hpp

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// Copyright 2020, Steve Macenski
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef ROS2_OUSTER__POINT_OS_HPP_
#define ROS2_OUSTER__POINT_OS_HPP_

#define PCL_NO_PRECOMPILE
#include "pcl/point_types.h"

namespace point_os
{

struct EIGEN_ALIGN16 PointOS
{
  PCL_ADD_POINT4D;
  float intensity;
  uint32_t t;
  uint16_t reflectivity;
  uint8_t ring;
  uint16_t noise;
  uint32_t range;
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  static inline PointOS make(
    float x, float y, float z, float intensity,
    uint32_t t, uint16_t reflectivity, uint8_t ring, uint8_t col,
    uint16_t noise, uint32_t range)
  {
    return {x, y, z, 0.0, intensity, t, reflectivity, ring, noise, range};
  }
};

}  // namespace point_os

/* *INDENT-OFF* */
POINT_CLOUD_REGISTER_POINT_STRUCT(point_os::PointOS,
  (float, x, x)
  (float, y, y)
  (float, z, z)
  (float, intensity, intensity)
  (std::uint32_t, t, t)
  (std::uint16_t, reflectivity, reflectivity)
  (std::uint8_t, ring, ring)
  (std::uint16_t, noise, noise)
  (std::uint32_t, range, range)
)
/* *INDENT-ON* */

#endif  // ROS2_OUSTER__POINT_OS_HPP_