/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2016, Computer Science Institute VI, University of Bonn
 *  All rights reserved.
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 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
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 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of University of Bonn, Computer Science Institute
 *     VI nor the names of its contributors may be used to endorse or
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 *     prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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 */

#ifndef _MAP_POINT_TYPES_H_
#define _MAP_POINT_TYPES_H_

#define PCL_NO_PRECOMPILE
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>

#include <boost/make_shared.hpp>
#include <boost/circular_buffer_fwd.hpp>

struct PointXYZRGBScanLabel
{
  PCL_ADD_POINT4D;  // preferred way of adding a XYZ+padding
  uint16_t scanlineNr;
  uint16_t scanNr;
  uint32_t pointNr;
  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(PointXYZRGBScanLabel,
                                  (float, x, x)(float, y, y)(float, z, z)(uint16_t, scanlineNr, scanlineNr)
				  (uint16_t, scanNr, scanNr)(uint32_t, pointNr, pointNr))

struct PointXYZScanLine
{
  PCL_ADD_POINT4D;  // preferred way of adding a XYZ+padding
  uint16_t scanlineNr;
  uint32_t pointNr;
  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(PointXYZScanLine,
                                  (float, x, x)(float, y, y)(float, z, z)(uint16_t, scanlineNr,
                                                                          scanlineNr)(uint32_t, pointNr, pointNr))



#endif