Point Cloud Library (PCL)  1.12.1-dev
1 #pragma once
3 #include <pcl/point_types.h>
4 #include <pcl/point_cloud.h>
6 /* Define some custom types to make the rest of our code easier to read */
8 // Define "PointCloud" to be a pcl::PointCloud of pcl::PointXYZRGB points
11 typedef pcl::PointCloud<PointT>::Ptr PointCloudPtr;
12 typedef pcl::PointCloud<PointT>::ConstPtr PointCloudConstPtr;
14 // Define "SurfaceNormals" to be a pcl::PointCloud of pcl::Normal points
15 typedef pcl::Normal NormalT;
17 typedef pcl::PointCloud<NormalT>::Ptr SurfaceNormalsPtr;
18 typedef pcl::PointCloud<NormalT>::ConstPtr SurfaceNormalsConstPtr;
20 // Define "LocalDescriptors" to be a pcl::PointCloud of pcl::FPFHSignature33 points
23 typedef pcl::PointCloud<LocalDescriptorT>::Ptr LocalDescriptorsPtr;
24 typedef pcl::PointCloud<LocalDescriptorT>::ConstPtr LocalDescriptorsConstPtr;
26 // Define "GlobalDescriptors" to be a pcl::PointCloud of pcl::VFHSignature308 points
29 typedef pcl::PointCloud<GlobalDescriptorT>::Ptr GlobalDescriptorsPtr;
30 typedef pcl::PointCloud<GlobalDescriptorT>::ConstPtr GlobalDescriptorsConstPtr;
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
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, and the RGB color.
A point structure representing the Viewpoint Feature Histogram (VFH).