PointCloud2.h

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#ifndef PCL_SENSOR_MSGS_MESSAGE_POINTCLOUD2_H
#define PCL_SENSOR_MSGS_MESSAGE_POINTCLOUD2_H
#include <string>
#include <vector>
#include <ostream>

// Include the correct Header path here
#include "std_msgs/Header.h"
#include "sensor_msgs/PointField.h"

namespace sensor_msgs
{

#if (defined(__powerpc) || defined(__powerpc__) || defined(__POWERPC__) || defined(__ppc__) || defined(_M_PPC) || defined(__ARCH_PPC))
#  define PCL_BIG_ENDIAN
#elif (defined(i386) || defined(__i386__) || defined(__i386) || defined(_M_IX86) || defined(_X86_) || defined(__THW_INTEL__) || defined(__I86__) || defined(__INTEL__)) \
  || (defined(__amd64__) || defined(__amd64) || defined(__x86_64__) || defined(__x86_64) || defined(_M_X64)) \
  || (defined(__ANDROID__))
#  define PCL_LITTLE_ENDIAN
#else
#  error
#endif

  struct PointCloud2
  {
    PointCloud2 () : header (), height (0), width (0), fields (),
                     is_bigendian (false), point_step (0), row_step (0),
                     data (), is_dense (false)
    {
#ifdef PCL_BIG_ENDIAN
      is_bigendian = true;
#elif defined(PCL_LITTLE_ENDIAN)
      is_bigendian = false;
#else
#      error
#endif
    }

#undef PCL_BIG_ENDIAN
#undef PCL_LITTLE_ENDIAN

    ::std_msgs::Header header;

    pcl::uint32_t height;
    pcl::uint32_t width;

    std::vector< ::sensor_msgs::PointField>  fields;

    pcl::uint8_t is_bigendian;
    pcl::uint32_t point_step;
    pcl::uint32_t row_step;

    std::vector<pcl::uint8_t> data;

    pcl::uint8_t is_dense;

  public:
    typedef boost::shared_ptr< ::sensor_msgs::PointCloud2> Ptr;
    typedef boost::shared_ptr< ::sensor_msgs::PointCloud2  const> ConstPtr;
  }; // struct PointCloud2

  typedef boost::shared_ptr< ::sensor_msgs::PointCloud2> PointCloud2Ptr;
  typedef boost::shared_ptr< ::sensor_msgs::PointCloud2 const> PointCloud2ConstPtr;

  inline std::ostream& operator<<(std::ostream& s, const  ::sensor_msgs::PointCloud2 &v)
  {
    s << "header: " << std::endl;
    s << v.header;
    s << "height: ";
    s << "  " << v.height << std::endl;
    s << "width: ";
    s << "  " << v.width << std::endl;
    s << "fields[]" << std::endl;
    for (size_t i = 0; i < v.fields.size (); ++i)
    {
      s << "  fields[" << i << "]: ";
      s << std::endl;
      s << "    " << v.fields[i] << std::endl;
    }
    s << "is_bigendian: ";
    s << "  " << v.is_bigendian << std::endl;
    s << "point_step: ";
    s << "  " << v.point_step << std::endl;
    s << "row_step: ";
    s << "  " << v.row_step << std::endl;
    s << "data[]" << std::endl;
    for (size_t i = 0; i < v.data.size (); ++i)
    {
      s << "  data[" << i << "]: ";
      s << "  " << v.data[i] << std::endl;
    }
    s << "is_dense: ";
    s << "  " << v.is_dense << std::endl;
    
    return (s);
  }

} // namespace sensor_msgs

#endif // PCL_SENSOR_MSGS_MESSAGE_POINTCLOUD2_H