point_types.h

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/*
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 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
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 *     notice, this list of conditions and the following disclaimer.
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 *     with the distribution.
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#pragma once
 
// For backward-compatibility field traits should be imported in this header
#ifndef PCL_OPTIMIZE_IMPORTS_FIELD_TRAITS
#include <pcl/field_traits.h>
#endif
 
#include <pcl/feature_types.h>      // feature types are point types too
 
#include <bitset>
 
 
/**
  * \file pcl/point_types.h
  * Defines all the PCL implemented PointT point type structures
  * \ingroup common
  */
 
// Allow nameless structs/unions
#if defined _MSC_VER
  #pragma warning(push)
  #pragma warning(disable: 4201)
#endif
 
/** @{*/
namespace pcl
{
  /** \brief Members: float x, y, z
    * \ingroup common
    */
  struct PointXYZ;
 
  /** \brief Members: rgba
    * \ingroup common
    */
  struct RGB;
 
  /** \brief Members: intensity (float)
    * \ingroup common
    */
  struct Intensity;
 
  /** \brief Members: intensity (std::uint8_t)
    * \ingroup common
    */
  struct Intensity8u;
 
  /** \brief Members: intensity (std::uint32_t)
    * \ingroup common
    */
  struct Intensity32u;
 
  /** \brief Members: float x, y, z, intensity
    * \ingroup common
    */
  struct PointXYZI;
 
  /** \brief Members: float x, y, z, uin32_t label
    * \ingroup common
    */
  struct PointXYZL;
 
  /** \brief Members: std::uint32_t label
    * \ingroup common
    */
  struct Label;
 
  /** \brief Members: float x, y, z; std::uint32_t rgba
    * \ingroup common
    */
  struct PointXYZRGBA;
 
  /** \brief Members: float x, y, z, rgb
    * \ingroup common
    */
  struct PointXYZRGB;
 
  /** \brief Members: float x, y, z, rgb, std::uint32_t label
    * \ingroup common
    */
  struct PointXYZRGBL;
 
  /** \brief Members: float x, y, z, L, a, b
    * \ingroup common
    */
  struct PointXYZLAB;
 
  /** \brief Members: float x, y, z, h, s, v
    * \ingroup common
    */
  struct PointXYZHSV;
 
  /** \brief Members: float x, y
    * \ingroup common
    */
  struct PointXY;
 
  /** \brief Members: float u, v
    * \ingroup common
    */
  struct PointUV;
 
  /** \brief Members: float x, y, z, strength
    * \ingroup common
    */
  struct InterestPoint;
 
  /** \brief Members: float normal[3], curvature
    * \ingroup common
    */
  struct Normal;
 
  /** \brief Members: float normal[3]
    * \ingroup common
    */
  struct Axis;
 
  /** \brief Members: float x, y, z; float normal[3], curvature
    * \ingroup common
    */
  struct PointNormal;
 
  /** \brief Members: float x, y, z, rgb, normal[3], curvature
    * \ingroup common
    */
  struct PointXYZRGBNormal;
 
  /** \brief Members: float x, y, z, intensity, normal[3], curvature
    * \ingroup common
    */
  struct PointXYZINormal;
 
  /** \brief Members: float x, y, z, label, normal[3], curvature
    * \ingroup common
    */
  struct PointXYZLNormal;
 
  /** \brief Members: float x, y, z (union with float point[4]), range
    * \ingroup common
    */
  struct PointWithRange;
 
  /** \brief Members: float x, y, z, vp_x, vp_y, vp_z
    * \ingroup common
    */
  struct PointWithViewpoint;
 
  /** \brief Data type to store extended information about a transition from foreground to backgroundSpecification of the fields for BorderDescription::traits.
    * \ingroup common
    */
  using BorderTraits = std::bitset<32>;
 
  /** \brief Specification of the fields for BorderDescription::traits.
    * \ingroup common
    */
  enum BorderTrait
  {
    BORDER_TRAIT__OBSTACLE_BORDER, BORDER_TRAIT__SHADOW_BORDER, BORDER_TRAIT__VEIL_POINT,
    BORDER_TRAIT__SHADOW_BORDER_TOP, BORDER_TRAIT__SHADOW_BORDER_RIGHT, BORDER_TRAIT__SHADOW_BORDER_BOTTOM,
    BORDER_TRAIT__SHADOW_BORDER_LEFT, BORDER_TRAIT__OBSTACLE_BORDER_TOP, BORDER_TRAIT__OBSTACLE_BORDER_RIGHT,
    BORDER_TRAIT__OBSTACLE_BORDER_BOTTOM, BORDER_TRAIT__OBSTACLE_BORDER_LEFT, BORDER_TRAIT__VEIL_POINT_TOP,
    BORDER_TRAIT__VEIL_POINT_RIGHT, BORDER_TRAIT__VEIL_POINT_BOTTOM, BORDER_TRAIT__VEIL_POINT_LEFT
  };
 
  /** \brief Members: int x, y; BorderTraits traits
    * \ingroup common
    */
  struct BorderDescription;
 
  /** \brief Members: float gradient[3]
    * \ingroup common
    */
  struct IntensityGradient;
 
  /** \brief Members: float x, y, z, scale, angle, response, octave
    * \ingroup common
    */
  struct PointWithScale;
 
  /** \brief Members: float x, y, z, normal[3], rgba, radius, confidence, curvature
    * \ingroup common
    */
  struct PointSurfel;
 
  /** \brief Members: float x, y, z, intensity, intensity_variance, height_variance
    * \ingroup common
    */
  struct PointDEM;
} // namespace pcl
/** @} */
 
#include <pcl/impl/point_types.hpp>
 
#if defined _MSC_VER
  #pragma warning(pop)
#endif