typedefs.h
#pragma once
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
/* Define some custom types to make the rest of our code easier to read */
// Define "PointCloud" to be a pcl::PointCloud of pcl::PointXYZRGB points
typedef pcl::PointXYZRGB PointT;
typedef pcl::PointCloud<PointT> PointCloud;
typedef pcl::PointCloud<PointT>::Ptr PointCloudPtr;
typedef pcl::PointCloud<PointT>::ConstPtr PointCloudConstPtr;
// Define "SurfaceNormals" to be a pcl::PointCloud of pcl::Normal points
typedef pcl::Normal NormalT;
typedef pcl::PointCloud<NormalT> SurfaceNormals;
typedef pcl::PointCloud<NormalT>::Ptr SurfaceNormalsPtr;
typedef pcl::PointCloud<NormalT>::ConstPtr SurfaceNormalsConstPtr;
// Define "LocalDescriptors" to be a pcl::PointCloud of pcl::FPFHSignature33 points
typedef pcl::FPFHSignature33 LocalDescriptorT;
typedef pcl::PointCloud<LocalDescriptorT> LocalDescriptors;
typedef pcl::PointCloud<LocalDescriptorT>::Ptr LocalDescriptorsPtr;
typedef pcl::PointCloud<LocalDescriptorT>::ConstPtr LocalDescriptorsConstPtr;
// Define "GlobalDescriptors" to be a pcl::PointCloud of pcl::VFHSignature308 points
typedef pcl::VFHSignature308 GlobalDescriptorT;
typedef pcl::PointCloud<GlobalDescriptorT> GlobalDescriptors;
typedef pcl::PointCloud<GlobalDescriptorT>::Ptr GlobalDescriptorsPtr;
typedef pcl::PointCloud<GlobalDescriptorT>::ConstPtr GlobalDescriptorsConstPtr;
point_types.h
pcl::Normal
A point structure representing normal coordinates and the surface curvature estimate.
Definition: point_types.hpp:795
pcl::FPFHSignature33
A point structure representing the Fast Point Feature Histogram (FPFH).
Definition: point_types.hpp:1371
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: projection_matrix.h:52
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:623
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:415
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:416
pcl::VFHSignature308
A point structure representing the Viewpoint Feature Histogram (VFH).
Definition: point_types.hpp:1383