Point Cloud Library (PCL) 1.15.0
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typedefs.h
1#pragma once
2
3#include <pcl/point_types.h>
4#include <pcl/point_cloud.h>
5
6/* Define some custom types to make the rest of our code easier to read */
7
8// Define "PointCloud" to be a pcl::PointCloud of pcl::PointXYZRGB points
11typedef pcl::PointCloud<PointT>::Ptr PointCloudPtr;
12typedef pcl::PointCloud<PointT>::ConstPtr PointCloudConstPtr;
13
14// Define "SurfaceNormals" to be a pcl::PointCloud of pcl::Normal points
15typedef pcl::Normal NormalT;
17typedef pcl::PointCloud<NormalT>::Ptr SurfaceNormalsPtr;
18typedef pcl::PointCloud<NormalT>::ConstPtr SurfaceNormalsConstPtr;
19
20// Define "SurfaceElements" to be a pcl::PointCloud of pcl::PointNormal points
22typedef pcl::PointCloud<SurfelT> SurfaceElements;
23typedef pcl::PointCloud<SurfelT>::Ptr SurfaceElementsPtr;
24typedef pcl::PointCloud<SurfelT>::ConstPtr SurfaceElementsConstPtr;
25
26
27// Define "LocalDescriptors" to be a pcl::PointCloud of pcl::FPFHSignature33 points
30typedef pcl::PointCloud<LocalDescriptorT>::Ptr LocalDescriptorsPtr;
31typedef pcl::PointCloud<LocalDescriptorT>::ConstPtr LocalDescriptorsConstPtr;
32
33// Define "GlobalDescriptors" to be a pcl::PointCloud of pcl::VFHSignature308 points
36typedef pcl::PointCloud<GlobalDescriptorT>::Ptr GlobalDescriptorsPtr;
37typedef pcl::PointCloud<GlobalDescriptorT>::ConstPtr GlobalDescriptorsConstPtr;
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
Defines all the PCL implemented PointT point type structures.
A point structure representing the Fast Point Feature Histogram (FPFH).
A point structure representing normal coordinates and the surface curvature estimate.
A point structure representing Euclidean xyz coordinates, together with normal coordinates and the su...
A point structure representing Euclidean xyz coordinates, and the RGB color.
A point structure representing the Viewpoint Feature Histogram (VFH).