00001 /* 00002 * Copyright (c) 2018, the mcl_3dl authors 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the copyright holder nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef MCL_3DL_POINT_TYPES_H 00031 #define MCL_3DL_POINT_TYPES_H 00032 00033 #include <pcl/point_types.h> 00034 #include <pcl/point_cloud.h> 00035 00036 namespace mcl_3dl 00037 { 00038 struct EIGEN_ALIGN16 PointXYZIL 00039 { 00040 PCL_ADD_POINT4D; 00041 float intensity; 00042 uint32_t label; 00043 00044 inline PointXYZIL() 00045 { 00046 x = y = z = 0.0f; 00047 data[3] = 1.0f; 00048 intensity = 0.0f; 00049 label = 0; 00050 } 00051 00052 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00053 }; 00054 } // namespace mcl_3dl 00055 00056 POINT_CLOUD_REGISTER_POINT_STRUCT( 00057 mcl_3dl::PointXYZIL, 00058 (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(uint32_t, label, label)) 00059 00060 #endif // MCL_3DL_POINT_TYPES_H