From ec6cee9341de12f58ec2aca84179e04b3c501cbf Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Fri, 16 Apr 2021 16:05:17 +0200
Subject: [PATCH] custom pcl point type
---
.../RobotAPI/libraries/core/pcl_point_types.h | 63 +++++++++++++++++++
1 file changed, 63 insertions(+)
create mode 100644 source/RobotAPI/libraries/core/pcl_point_types.h
diff --git a/source/RobotAPI/libraries/core/pcl_point_types.h b/source/RobotAPI/libraries/core/pcl_point_types.h
new file mode 100644
index 000000000..e610f72fe
--- /dev/null
+++ b/source/RobotAPI/libraries/core/pcl_point_types.h
@@ -0,0 +1,63 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::Core
+ * @author Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#define PCL_NO_PRECOMPILE
+#include <pcl/pcl_macros.h>
+#include <pcl/point_types.h>
+#include <pcl/point_cloud.h>
+#include <pcl/io/pcd_io.h>
+// #include <pcl/memory.h>
+
+#include <Eigen/Core>
+
+namespace pcl
+{
+
+ /**
+ * @brief Point for polar coordinates
+ *
+ */
+ struct PointPolar
+ {
+ // PCL_ADD_POINT4D; // preferred way of adding a XYZ+padding
+
+ //! radial distance
+ float r;
+
+ //! angle
+ float phi;
+
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+ // PCL_MAKE_ALIGNED_OPERATOR_NEW // make sure our new allocators are aligned
+ } EIGEN_ALIGN16; // enforce SSE padding for correct memory alignment
+
+
+
+} // namespace pcl
+
+
+POINT_CLOUD_REGISTER_POINT_STRUCT(pcl::PointPolar,
+ (float, r, r)
+ (float, phi, phi)
+ )
\ No newline at end of file
--
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