pointDefinition.h
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00001 #ifndef point_definition_h
00002 #define point_definition_h
00003 
00004 #include <sensor_msgs/PointCloud2.h>
00005 #include <geometry_msgs/PointStamped.h>
00006 
00007 #include <pcl_conversions/pcl_conversions.h>
00008 #include <pcl/point_cloud.h>
00009 #include <pcl/point_types.h>
00010 #include <pcl/filters/voxel_grid.h>
00011 #include <pcl/kdtree/kdtree_flann.h>
00012 
00013 struct ImagePoint {
00014      float u, v;
00015      int ind;
00016 };
00017 
00018 POINT_CLOUD_REGISTER_POINT_STRUCT (ImagePoint,
00019                                    (float, u, u)
00020                                    (float, v, v)
00021                                    (int, ind, ind))
00022 
00023 struct DepthPoint {
00024      float u, v;
00025      float depth;
00026      int label;
00027      int ind;
00028 };
00029 
00030 POINT_CLOUD_REGISTER_POINT_STRUCT (DepthPoint,
00031                                    (float, u, u)
00032                                    (float, v, v)
00033                                    (float, depth, depth)
00034                                    (int, label, label)
00035                                    (int, ind, ind))
00036 
00037 #endif
00038 


demo_lidar
Author(s): Ji Zhang
autogenerated on Sun Mar 1 2015 11:30:50