Point Cloud Library (PCL)  1.7.2
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;
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;
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
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
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
37 typedef pcl::PointCloud<GlobalDescriptorT>::Ptr GlobalDescriptorsPtr;
38 typedef pcl::PointCloud<GlobalDescriptorT>::ConstPtr GlobalDescriptorsConstPtr;
39 
40 #endif
A point structure representing normal coordinates and the surface curvature estimate.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:429
boost::shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:428
A point structure representing the Fast Point Feature Histogram (FPFH).
A point structure representing Euclidean xyz coordinates, together with normal coordinates and the su...
A point structure representing the Viewpoint Feature Histogram (VFH).
A point structure representing Euclidean xyz coordinates, and the RGB color.