Point Cloud Library (PCL)
1.9.1
doc
tutorials
content
sources
iros2011
include
typedefs.h
1
#ifndef TYPEDEFS_H
2
#define TYPEDEFS_H
3
4
#include <
pcl/point_types.h
>
5
#include <pcl/point_cloud.h>
6
7
/* Define some custom types to make the rest of our code easier to read */
8
9
// Define "PointCloud" to be a pcl::PointCloud of pcl::PointXYZRGB points
10
typedef
pcl::PointXYZRGB
PointT
;
11
typedef
pcl::PointCloud<PointT>
PointCloud
;
12
typedef
pcl::PointCloud<PointT>::Ptr
PointCloudPtr;
13
typedef
pcl::PointCloud<PointT>::ConstPtr
PointCloudConstPtr;
14
15
// Define "SurfaceNormals" to be a pcl::PointCloud of pcl::Normal points
16
typedef
pcl::Normal
NormalT
;
17
typedef
pcl::PointCloud<NormalT>
SurfaceNormals
;
18
typedef
pcl::PointCloud<NormalT>::Ptr
SurfaceNormalsPtr;
19
typedef
pcl::PointCloud<NormalT>::ConstPtr
SurfaceNormalsConstPtr;
20
21
// Define "SurfaceElements" to be a pcl::PointCloud of pcl::PointNormal points
22
typedef
pcl::PointNormal
SurfelT
;
23
typedef
pcl::PointCloud<SurfelT>
SurfaceElements
;
24
typedef
pcl::PointCloud<SurfelT>::Ptr
SurfaceElementsPtr;
25
typedef
pcl::PointCloud<SurfelT>::ConstPtr
SurfaceElementsConstPtr;
26
27
28
// Define "LocalDescriptors" to be a pcl::PointCloud of pcl::FPFHSignature33 points
29
typedef
pcl::FPFHSignature33
LocalDescriptorT
;
30
typedef
pcl::PointCloud<LocalDescriptorT>
LocalDescriptors
;
31
typedef
pcl::PointCloud<LocalDescriptorT>::Ptr
LocalDescriptorsPtr;
32
typedef
pcl::PointCloud<LocalDescriptorT>::ConstPtr
LocalDescriptorsConstPtr;
33
34
// Define "GlobalDescriptors" to be a pcl::PointCloud of pcl::VFHSignature308 points
35
typedef
pcl::VFHSignature308
GlobalDescriptorT
;
36
typedef
pcl::PointCloud<GlobalDescriptorT>
GlobalDescriptors
;
37
typedef
pcl::PointCloud<GlobalDescriptorT>::Ptr
GlobalDescriptorsPtr;
38
typedef
pcl::PointCloud<GlobalDescriptorT>::ConstPtr
GlobalDescriptorsConstPtr;
39
40
#endif
point_types.h
pcl::Normal
A point structure representing normal coordinates and the surface curvature estimate.
Definition:
point_types.hpp:791
pcl::PointCloud::Ptr
boost::shared_ptr< PointCloud< PointT > > Ptr
Definition:
point_cloud.h:428
pcl::FPFHSignature33
A point structure representing the Fast Point Feature Histogram (FPFH).
Definition:
point_types.hpp:1366
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition:
projection_matrix.h:53
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition:
point_types.hpp:619
pcl::PointNormal
A point structure representing Euclidean xyz coordinates, together with normal coordinates and the su...
Definition:
point_types.hpp:871
pcl::PointCloud::ConstPtr
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition:
point_cloud.h:429
pcl::VFHSignature308
A point structure representing the Viewpoint Feature Histogram (VFH).
Definition:
point_types.hpp:1378