Merge pull request #38 from AutoModality/AM-363/pcl_point_type

added PointXYZIR

Author: danhennage

CMakeLists.txt

@@ -10,6 +10,7 @@ find_package(catkin REQUIRED COMPONENTS
   genmsg
   geometry_msgs
   nav_msgs
+  pcl_conversions
   rosconsole
   roscpp 
   rosbag
@@ -36,6 +37,7 @@ catkin_package(
   genmsg
   geometry_msgs
   nav_msgs
+  pcl_conversions
   rosconsole
   roscpp 
   rosbag

include/am_utils/point_types.h

@@ -0,0 +1,28 @@
+#ifndef AM_UTILS_INCLUDE_AM_UTILS_POINT_TYPE_H_
+#define AM_UTILS_INCLUDE_AM_UTILS_POINT_TYPE_H_
+
+#include <pcl-1.8/pcl/point_types.h>
+#include <pcl-1.8/pcl/point_types.h>
+#include <pcl-1.8/pcl/point_types.h>
+
+namespace pcl {
+
+struct PointXYZIR
+{
+ PCL_ADD_POINT4D;                  // preferred way of adding a XYZ+padding
+ float intensity;
+ float range;
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW   // make sure our new allocators are aligned
+} EIGEN_ALIGN16;                    // enforce SSE padding for correct memory alignment
+
+}
+
+POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PointXYZIR,
+                                    (float, x, x)
+                                    (float, y, y)
+                                    (float, z, z)
+                                    (float, intensity, intensity)
+                                    (float, range, range)
+ )
+
+#endif

package.xml

@@ -14,6 +14,7 @@
    <depend>genmsg</depend>
    <depend>geometry_msgs</depend>
    <depend>nav_msgs</depend>
+   <depend>pcl_conversions</depend>
    <depend>rosconsole</depend>
    <depend>roscpp</depend>
    <depend>rosbag</depend>