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diff --git a/extern/draco/draco/src/draco/compression/point_cloud/algorithms/point_cloud_types.h b/extern/draco/draco/src/draco/compression/point_cloud/algorithms/point_cloud_types.h
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+// Copyright 2016 The Draco Authors.
+//
+// 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 DRACO_COMPRESSION_POINT_CLOUD_ALGORITHMS_POINT_CLOUD_TYPES_H_
+#define DRACO_COMPRESSION_POINT_CLOUD_ALGORITHMS_POINT_CLOUD_TYPES_H_
+
+#include <inttypes.h>
+
+#include <vector>
+
+#include "draco/core/vector_d.h"
+
+namespace draco {
+
+// Using Eigen as this is favored by project Cartographer.
+typedef Vector3f Point3f;
+typedef Vector4f Point4f;
+typedef Vector3ui Point3ui;
+typedef Vector4ui Point4ui;
+typedef Vector5ui Point5ui;
+typedef Vector6ui Point6ui;
+typedef Vector7ui Point7ui;
+
+typedef std::vector<Point3f> PointCloud3f;
+
+template <class PointDT>
+struct PointDLess;
+
+template <class CoeffT, int dimension_t>
+struct PointDLess<VectorD<CoeffT, dimension_t>> {
+  bool operator()(const VectorD<CoeffT, dimension_t> &a,
+                  const VectorD<CoeffT, dimension_t> &b) const {
+    return a < b;
+  }
+};
+
+template <class PointDT>
+class PointTraits {};
+
+template <class CoordinateTypeT, int dimension_t>
+class PointTraits<VectorD<CoordinateTypeT, dimension_t>> {
+ public:
+  typedef VectorD<CoordinateTypeT, dimension_t> PointD;
+  typedef CoordinateTypeT CoordinateType;
+
+  static constexpr uint32_t Dimension() { return dimension_t; }
+  static PointD Origin() {
+    PointD origin;
+    for (uint32_t i = 0; i < dimension_t; i++) {
+      origin(i) = 0;
+    }
+    return origin;
+  }
+  static std::array<uint32_t, dimension_t> ZeroArray() {
+    std::array<uint32_t, dimension_t> zero;
+    for (uint32_t i = 0; i < dimension_t; i++) {
+      zero[i] = 0;
+    }
+    return zero;
+  }
+};
+
+}  // namespace draco
+
+#endif  // DRACO_COMPRESSION_POINT_CLOUD_ALGORITHMS_POINT_CLOUD_TYPES_H_