/*
 * Software License Agreement (BSD License)
 *
 * Point Cloud Library (PCL) - www.pointclouds.org
 * Copyright (c) 2009-2012, Willow Garage, Inc.
 * Copyright (c) 2012-, Open Perception, Inc.
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 *  * Redistributions of source code must retain the above copyright
 *    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 the copyright holder(s) nor the names of its
 *    contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id$
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 */

#ifndef PCL_APPS_IN_HAND_SCANNER_COMMON_TYPES_H
#define PCL_APPS_IN_HAND_SCANNER_COMMON_TYPES_H

#include <stdint.h>

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

namespace pcl
{
  namespace ihs
  {
    struct PointIHS;
    typedef pcl::PointCloud <PointIHS> CloudIHS;
    typedef CloudIHS::Ptr              CloudIHSPtr;
    typedef CloudIHS::ConstPtr         CloudIHSConstPtr;
  } // End namespace ihs
} // End namespace pcl

#include <pcl/apps/in_hand_scanner/impl/common_types.hpp>

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::ihs::_PointIHS,
                                   (float, x, x)
                                   (float, y, y)
                                   (float, z, z)
                                   (float, normal_x, normal_x)
                                   (float, normal_y, normal_y)
                                   (float, normal_z, normal_z)
                                   (float, rgb, rgb)
                                   (float, weight, weight)
                                   (unsigned int, age, age)
                                   (uint32_t, directions, directions)
                                  )
POINT_CLOUD_REGISTER_POINT_WRAPPER (pcl::ihs::PointIHS, pcl::ihs::_PointIHS)

namespace pcl
{
  namespace ihs
  {
    struct MeshTraits
    {
      typedef PointIHS              VertexData;
      typedef pcl::geometry::NoData HalfEdgeData;
      typedef pcl::geometry::NoData EdgeData;
      typedef pcl::geometry::NoData FaceData;
      typedef boost::true_type      IsManifold;
    };

    // NOTE: The drawMesh method in pcl::ihs::InHandScanner only supports triangles!
    typedef pcl::geometry::TriangleMesh <MeshTraits> Mesh;
    typedef Mesh::Ptr                                MeshPtr;
    typedef Mesh::ConstPtr                           MeshConstPtr;
  } // End namespace ihs
} // End namespace pcl

#endif // PCL_APPS_IN_HAND_SCANNER_COMMON_TYPES_H
