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 * Point Cloud Library (PCL) - www.pointclouds.org
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#ifndef PCL_APPS_IN_HAND_SCANNER_IMPL_COMMON_TYPES_HPP
#define PCL_APPS_IN_HAND_SCANNER_IMPL_COMMON_TYPES_HPP

#include <pcl/memory.h>
#include <pcl/pcl_macros.h>

#include <limits>

namespace pcl {
namespace ihs {
struct EIGEN_ALIGN16 _PointIHS {
  PCL_ADD_POINT4D
  PCL_ADD_NORMAL4D
  PCL_ADD_RGB
  float weight;
  unsigned int age;
  std::uint32_t directions;

  PCL_MAKE_ALIGNED_OPERATOR_NEW
};

struct PointIHS : public pcl::ihs::_PointIHS {
  // NOTE: I rely on NaN in the default constructor!
  inline PointIHS()
  {
    this->x = this->y = this->z = std::numeric_limits<float>::quiet_NaN();
    this->data[3] = 1.f;

    this->normal_x = this->normal_y = this->normal_z =
        std::numeric_limits<float>::quiet_NaN();
    this->data_n[3] = 0.f;

    this->b = this->g = this->r = 0;
    this->a = 255;

    this->weight = 0.f;
    this->age = 0;
    this->directions = 0;
  }

  inline PointIHS(const PointIHS& other)
  {
    this->x = other.x;
    this->y = other.y;
    this->z = other.z;
    this->data[3] = other.data[3];

    this->normal_x = other.normal_x;
    this->normal_y = other.normal_y;
    this->normal_z = other.normal_z;
    this->data_n[3] = other.data_n[3];

    this->rgba = other.rgba;

    this->weight = other.weight;
    this->age = other.age;
    this->directions = other.directions;
  }

  inline PointIHS&
  operator=(const PointIHS& other) = default;

  inline PointIHS(const pcl::PointXYZRGBNormal& other, const float weight)
  {
    this->x = other.x;
    this->y = other.y;
    this->z = other.z;
    this->data[3] = other.data[3];

    this->normal_x = other.normal_x;
    this->normal_y = other.normal_y;
    this->normal_z = other.normal_z;
    this->data_n[3] = other.data_n[3];

    this->rgba = other.rgba;

    this->weight = weight;
    this->age = 0;
    this->directions = 0;
  }

  inline const Eigen::Vector3i
  getRGBVector3i() const
  {
    return (Eigen::Vector3i(r, g, b));
  }

  inline const Eigen::Vector4i
  getRGBVector4i() const
  {
    return (Eigen::Vector4i(r, g, b, a));
  }
};

} // End namespace ihs
} // End namespace pcl

#endif // PCL_APPS_IN_HAND_SCANNER_IMPL_COMMON_TYPES_HPP
