add pcl_util

modules/perception/lib/pcl_util/pcl_types.h

+/******************************************************************************
+ * Copyright 2017 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#ifndef MODULES_PERCEPTION_LIB_PCL_UTIL_PCL_TYPES_H_
+#define MODULES_PERCEPTION_LIB_PCL_UTIL_PCL_TYPES_H_
+
+#include <pcl/common/time.h>
+#include <pcl/kdtree/kdtree_flann.h>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl/search/impl/kdtree.hpp>
+
+namespace adu {
+namespace perception {
+
+typedef pcl::PointIndices PointIndices;
+typedef pcl::PointIndices::Ptr PointIndicesPtr;
+typedef pcl::PointXY Point2d;
+typedef pcl::PointCloud<Point2d> PointCloud2d;
+typedef pcl::PointCloud<Point2d>::Ptr PointCloud2dPtr;
+typedef pcl::PointCloud<Point2d>::ConstPtr PointCloud2dConstPtr;
+
+struct PointXYZIH;
+
+typedef PointXYZIH Point;
+typedef pcl::PointCloud<Point> PointCloud;
+typedef pcl::PointCloud<Point>::Ptr PointCloudPtr;
+typedef pcl::PointCloud<Point>::ConstPtr PointCloudConstPtr;
+typedef pcl::PointXYZRGB CPoint;
+typedef pcl::PointCloud<CPoint> CPointCloud;
+typedef pcl::PointCloud<CPoint>::Ptr CPointCloudPtr;
+typedef pcl::PointCloud<CPoint>::ConstPtr CPointCloudConstPtr;
+typedef pcl::KdTreeFLANN<Point> KdTree;
+
+struct BoundingCube {
+  float x;  // center of box
+  float y;  // center of box
+  float z;  // center of box
+  float length;
+  float width;
+  float height;
+  float yaw;
+
+  float trans_x;  // center of points
+  float trans_y;  // center of points
+  float trans_z;  // center of points
+};
+
+// using double type to define x, y, z.
+struct PointD {
+  double x;
+  double y;
+  double z;
+  uint8_t intensity;
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+} EIGEN_ALIGN16;
+
+typedef ::pcl::PointCloud<PointD> PointDCloud;
+typedef ::pcl::PointCloud<PointD>::Ptr PointDCloudPtr;
+typedef ::pcl::PointCloud<PointD>::ConstPtr PointDCloudConstPtr;
+
+struct PointXYZIH {
+  PCL_ADD_POINT4D;
+  float intensity;
+  float h;  // height from ground
+
+  PointXYZIH() {
+    x = 0.0f;
+    y = 0.0f;
+    z = 0.0f;
+    h = 0.0f;
+    intensity = 0.0f;
+    data[3] = 1.0f;
+  }
+
+  inline PointXYZIH(float _intensity) {
+    x = 0.0f;
+    y = 0.0f;
+    z = 0.0f;
+    data[3] = 1.0f;
+    intensity = _intensity;
+  }
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+} EIGEN_ALIGN16;
+
+struct PointXYZIRT {
+  float x;
+  float y;
+  float z;
+  unsigned char intensity;
+  unsigned char ring;
+  double timestamp;
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW  // make sure our new allocators are aligned
+} EIGEN_ALIGN16;  // enforce SSE padding for correct memory alignment
+
+struct PointXYZIT {
+  float x;
+  float y;
+  float z;
+  unsigned char intensity;
+  double timestamp;
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW  // make sure our new allocators are aligned
+} EIGEN_ALIGN16;  // enforce SSE padding for correct memory alignment
+
+struct RawPointXYZIT {
+  PCL_ADD_POINT4D
+  uint8_t intensity;
+  double timestamp;
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW  // make sure our new allocators are aligned
+} EIGEN_ALIGN16;  // enforce SSE padding for correct memory alignment
+
+struct PointXYZIRTd {
+  double x;
+  double y;
+  double z;
+  unsigned char intensity;
+  unsigned char ring;
+  double timestamp;
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW  // make sure our new allocators are aligned
+} EIGEN_ALIGN16;  // enforce SSE padding for correct memory alignment
+
+struct PointXYZITd {
+  double x;
+  double y;
+  double z;
+  unsigned char intensity;
+  double timestamp;
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW  // make sure our new allocators are aligned
+} EIGEN_ALIGN16;  // enforce SSE padding for correct memory alignment
+
+}  // namespace perception
+}  // namespace adu
+
+POINT_CLOUD_REGISTER_POINT_STRUCT(
+    adu::perception::PointD,
+    (double, x, x)(double, y, y)(double, z, z)(uint8_t, intensity, intensity))
+
+POINT_CLOUD_REGISTER_POINT_STRUCT(adu::perception::PointXYZIH,
+                                  (float, x, x)(float, y, y)(float, z, z)(
+                                      float, intensity, intensity)(float, h, h))
+
+POINT_CLOUD_REGISTER_POINT_STRUCT(adu::perception::PointXYZIT,
+                                  (float, x, x)(float, y, y)(float, z, z)(
+                                      uint8_t, intensity,
+                                      intensity)(double, timestamp, timestamp))
+POINT_CLOUD_REGISTER_POINT_STRUCT(adu::perception::RawPointXYZIT,
+                                  (float, x, x)(float, y, y)(float, z, z)(
+                                      uint8_t, intensity,
+                                      intensity)(double, timestamp, timestamp))
+
+POINT_CLOUD_REGISTER_POINT_STRUCT(
+    adu::perception::PointXYZIRT,
+    (float, x, x)(float, y, y)(float, z, z)(uint8_t, intensity, intensity)(
+        uint8_t, ring, ring)(double, timestamp, timestamp))
+
+POINT_CLOUD_REGISTER_POINT_STRUCT(adu::perception::PointXYZITd,
+                                  (double, x, x)(double, y, y)(double, z, z)(
+                                      uint8_t, intensity,
+                                      intensity)(double, timestamp, timestamp))
+
+POINT_CLOUD_REGISTER_POINT_STRUCT(
+    adu::perception::PointXYZIRTd,
+    (double, x, x)(double, y, y)(double, z, z)(uint8_t, intensity, intensity)(
+        uint8_t, ring, ring)(double, timestamp, timestamp))
+
+#endif  // MODULES_PERCEPTION_LIB_PCL_UTIL_PCL_TYPES_H_