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// Copyright 2024 TIER IV, Inc.
//
// 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 NEBULA_POINT_TYPES_H
#define NEBULA_POINT_TYPES_H

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <memory>

namespace nebula::drivers
{
struct EIGEN_ALIGN16 PointXYZIR
{
  PCL_ADD_POINT4D;
  float intensity;
  uint16_t ring;
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

struct PointXYZICATR
{
  PCL_ADD_POINT4D;
  std::uint8_t intensity;
  std::uint16_t channel;
  float azimuth;
  std::uint32_t time_stamp;
  std::uint8_t return_type;
};
struct PointXYZIRCAEDT
{
  float x;
  float y;
  float z;
  std::uint8_t intensity;
  std::uint8_t return_type;
  std::uint16_t channel;
  float azimuth;
  float elevation;
  float distance;
  std::uint32_t time_stamp;
};

struct EIGEN_ALIGN16 PointXYZIRADT
{
  PCL_ADD_POINT4D;
  float intensity;
  uint16_t ring;
  float azimuth;
  float distance;
  uint8_t return_type;
  double time_stamp;
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

using NebulaPoint = PointXYZIRCAEDT;
using NebulaPointPtr = std::shared_ptr<NebulaPoint>;
using NebulaPointCloud = pcl::PointCloud<NebulaPoint>;
using NebulaPointCloudPtr = pcl::PointCloud<NebulaPoint>::Ptr;

}  // namespace nebula::drivers

POINT_CLOUD_REGISTER_POINT_STRUCT(
  nebula::drivers::PointXYZIR,
  (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(std::uint16_t, ring, ring))

POINT_CLOUD_REGISTER_POINT_STRUCT(
  nebula::drivers::PointXYZIRADT,
  (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(std::uint16_t, ring, ring)(
    float, azimuth, azimuth)(float, distance, distance)(std::uint8_t, return_type, return_type)(
    double, time_stamp, time_stamp))

POINT_CLOUD_REGISTER_POINT_STRUCT(
  nebula::drivers::PointXYZICATR,
  (float, x, x)(float, y, y)(float, z, z)(std::uint8_t, intensity, intensity)(
    std::uint16_t, channel, channel)(float, azimuth, azimuth)(
    std::uint32_t, time_stamp, time_stamp)(std::uint8_t, return_type, return_type))

POINT_CLOUD_REGISTER_POINT_STRUCT(
  nebula::drivers::PointXYZIRCAEDT,
  (float, x, x)(float, y, y)(float, z, z)(std::uint8_t, intensity, intensity)(
    std::uint8_t, return_type,
    return_type)(std::uint16_t, channel, channel)(float, azimuth, azimuth)(
    float, elevation, elevation)(float, distance, distance)(std::uint32_t, time_stamp, time_stamp))

#endif