Point Cloud Library (PCL)
1.10.1
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39 #ifndef PCL_IMPL_POINT_TYPES_HPP_
40 #define PCL_IMPL_POINT_TYPES_HPP_
44 # pragma GCC system_header
55 #define PCL_POINT_TYPES \
65 (pcl::InterestPoint) \
69 (pcl::PointXYZRGBNormal) \
70 (pcl::PointXYZINormal) \
71 (pcl::PointXYZLNormal) \
72 (pcl::PointWithRange) \
73 (pcl::PointWithViewpoint) \
74 (pcl::MomentInvariants) \
75 (pcl::PrincipalRadiiRSD) \
77 (pcl::PrincipalCurvatures) \
78 (pcl::PFHSignature125) \
79 (pcl::PFHRGBSignature250) \
81 (pcl::CPPFSignature) \
82 (pcl::PPFRGBSignature) \
83 (pcl::NormalBasedSignature12) \
84 (pcl::FPFHSignature33) \
85 (pcl::VFHSignature308) \
86 (pcl::GASDSignature512) \
87 (pcl::GASDSignature984) \
88 (pcl::GASDSignature7992) \
89 (pcl::GRSDSignature21) \
90 (pcl::ESFSignature640) \
91 (pcl::BRISKSignature512) \
93 (pcl::IntensityGradient) \
94 (pcl::PointWithScale) \
96 (pcl::ShapeContext1980) \
97 (pcl::UniqueShapeContext1960) \
101 (pcl::ReferenceFrame) \
105 #define PCL_RGB_POINT_TYPES \
106 (pcl::PointXYZRGBA) \
108 (pcl::PointXYZRGBL) \
109 (pcl::PointXYZRGBNormal) \
113 #define PCL_XYZ_POINT_TYPES \
117 (pcl::PointXYZRGBA) \
119 (pcl::PointXYZRGBL) \
121 (pcl::InterestPoint) \
123 (pcl::PointXYZRGBNormal) \
124 (pcl::PointXYZINormal) \
125 (pcl::PointXYZLNormal) \
126 (pcl::PointWithRange) \
127 (pcl::PointWithViewpoint) \
128 (pcl::PointWithScale) \
133 #define PCL_XYZL_POINT_TYPES \
135 (pcl::PointXYZRGBL) \
136 (pcl::PointXYZLNormal)
139 #define PCL_NORMAL_POINT_TYPES \
142 (pcl::PointXYZRGBNormal) \
143 (pcl::PointXYZINormal) \
144 (pcl::PointXYZLNormal) \
148 #define PCL_FEATURE_POINT_TYPES \
149 (pcl::PFHSignature125) \
150 (pcl::PFHRGBSignature250) \
151 (pcl::PPFSignature) \
152 (pcl::CPPFSignature) \
153 (pcl::PPFRGBSignature) \
154 (pcl::NormalBasedSignature12) \
155 (pcl::FPFHSignature33) \
156 (pcl::VFHSignature308) \
157 (pcl::GASDSignature512) \
158 (pcl::GASDSignature984) \
159 (pcl::GASDSignature7992) \
160 (pcl::GRSDSignature21) \
161 (pcl::ESFSignature640) \
162 (pcl::BRISKSignature512) \
170 using Array4fMap = Eigen::Map<Eigen::Array4f, Eigen::Aligned>;
177 using Vector3c = Eigen::Matrix<std::uint8_t, 3, 1>;
180 using Vector4c = Eigen::Matrix<std::uint8_t, 4, 1>;
184 #define PCL_ADD_UNION_POINT4D \
185 union EIGEN_ALIGN16 { \
194 #define PCL_ADD_EIGEN_MAPS_POINT4D \
195 inline pcl::Vector3fMap getVector3fMap () { return (pcl::Vector3fMap (data)); } \
196 inline pcl::Vector3fMapConst getVector3fMap () const { return (pcl::Vector3fMapConst (data)); } \
197 inline pcl::Vector4fMap getVector4fMap () { return (pcl::Vector4fMap (data)); } \
198 inline pcl::Vector4fMapConst getVector4fMap () const { return (pcl::Vector4fMapConst (data)); } \
199 inline pcl::Array3fMap getArray3fMap () { return (pcl::Array3fMap (data)); } \
200 inline pcl::Array3fMapConst getArray3fMap () const { return (pcl::Array3fMapConst (data)); } \
201 inline pcl::Array4fMap getArray4fMap () { return (pcl::Array4fMap (data)); } \
202 inline pcl::Array4fMapConst getArray4fMap () const { return (pcl::Array4fMapConst (data)); }
204 #define PCL_ADD_POINT4D \
205 PCL_ADD_UNION_POINT4D \
206 PCL_ADD_EIGEN_MAPS_POINT4D
208 #define PCL_ADD_UNION_NORMAL4D \
209 union EIGEN_ALIGN16 { \
219 #define PCL_ADD_EIGEN_MAPS_NORMAL4D \
220 inline pcl::Vector3fMap getNormalVector3fMap () { return (pcl::Vector3fMap (data_n)); } \
221 inline pcl::Vector3fMapConst getNormalVector3fMap () const { return (pcl::Vector3fMapConst (data_n)); } \
222 inline pcl::Vector4fMap getNormalVector4fMap () { return (pcl::Vector4fMap (data_n)); } \
223 inline pcl::Vector4fMapConst getNormalVector4fMap () const { return (pcl::Vector4fMapConst (data_n)); }
225 #define PCL_ADD_NORMAL4D \
226 PCL_ADD_UNION_NORMAL4D \
227 PCL_ADD_EIGEN_MAPS_NORMAL4D
229 #define PCL_ADD_UNION_RGB \
243 std::uint32_t rgba; \
246 #define PCL_ADD_EIGEN_MAPS_RGB \
247 inline Eigen::Vector3i getRGBVector3i () { return (Eigen::Vector3i (r, g, b)); } \
248 inline const Eigen::Vector3i getRGBVector3i () const { return (Eigen::Vector3i (r, g, b)); } \
249 inline Eigen::Vector4i getRGBVector4i () { return (Eigen::Vector4i (r, g, b, a)); } \
250 inline const Eigen::Vector4i getRGBVector4i () const { return (Eigen::Vector4i (r, g, b, a)); } \
251 inline Eigen::Vector4i getRGBAVector4i () { return (Eigen::Vector4i (r, g, b, a)); } \
252 inline const Eigen::Vector4i getRGBAVector4i () const { return (Eigen::Vector4i (r, g, b, a)); } \
253 inline pcl::Vector3cMap getBGRVector3cMap () { return (pcl::Vector3cMap (reinterpret_cast<std::uint8_t*> (&rgba))); } \
254 inline pcl::Vector3cMapConst getBGRVector3cMap () const { return (pcl::Vector3cMapConst (reinterpret_cast<const std::uint8_t*> (&rgba))); } \
255 inline pcl::Vector4cMap getBGRAVector4cMap () { return (pcl::Vector4cMap (reinterpret_cast<std::uint8_t*> (&rgba))); } \
256 inline pcl::Vector4cMapConst getBGRAVector4cMap () const { return (pcl::Vector4cMapConst (reinterpret_cast<const std::uint8_t*> (&rgba))); }
258 #define PCL_ADD_RGB \
260 PCL_ADD_EIGEN_MAPS_RGB
262 #define PCL_ADD_INTENSITY \
268 #define PCL_ADD_INTENSITY_8U \
271 std::uint8_t intensity; \
274 #define PCL_ADD_INTENSITY_32U \
277 std::uint32_t intensity; \
300 x = _x; y = _y; z = _z;
346 inline RGB (std::uint8_t _r, std::uint8_t _g, std::uint8_t _b)
348 r = _r; g = _g; b = _b;
352 friend std::ostream&
operator << (std::ostream& os,
const RGB& p);
369 intensity = p.intensity;
374 intensity = _intensity;
395 intensity = p.intensity;
400 intensity = _intensity;
403 #if defined(_LIBCPP_VERSION) && _LIBCPP_VERSION <= 1101
404 operator unsigned char()
const
427 intensity = p.intensity;
432 intensity = _intensity;
460 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
466 inline PointXYZI (
float _x,
float _y,
float _z,
float _intensity = 0.f)
468 x = _x; y = _y; z = _z;
489 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
495 inline PointXYZL (
float _x,
float _y,
float _z, std::uint32_t _label = 0)
497 x = _x; y = _y; z = _z;
549 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
555 inline PointXYZRGBA (std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, std::uint8_t _a):
562 std::uint8_t _g, std::uint8_t _b, std::uint8_t _a)
564 x = _x; y = _y; z = _z;
566 r = _r; g = _g; b = _b; a = _a;
624 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
630 inline PointXYZRGB (std::uint8_t _r, std::uint8_t _g, std::uint8_t _b):
637 std::uint8_t _r, std::uint8_t _g, std::uint8_t _b)
639 x = _x; y = _y; z = _z;
641 r = _r; g = _g; b = _b;
655 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
663 inline PointXYZRGBL (std::uint8_t _r, std::uint8_t _g, std::uint8_t _b):
670 std::uint8_t _r, std::uint8_t _g, std::uint8_t _b,
671 std::uint32_t _label = 0)
673 x = _x; y = _y; z = _z;
675 r = _r; g = _g; b = _b;
706 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
707 h = p.
h; s = p.
s; v = p.
v;
718 float _h,
float _s,
float _v)
720 x = _x; y = _y; z = _z;
722 h = _h; s = _s; v = _v;
808 normal_x = p.normal_x; normal_y = p.normal_y; normal_z = p.normal_z;
813 inline Normal (
float _curvature = 0.f):
Normal (0.f, 0.f, 0.f, _curvature) {}
815 inline Normal (
float n_x,
float n_y,
float n_z,
float _curvature = 0.f)
817 normal_x = n_x; normal_y = n_y; normal_z = n_z;
841 normal_x = p.normal_x; normal_y = p.normal_y; normal_z = p.normal_z;
847 inline Axis (
float n_x,
float n_y,
float n_z)
849 normal_x = n_x; normal_y = n_y; normal_z = n_z;
881 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
882 normal_x = p.normal_x; normal_y = p.normal_y; normal_z = p.normal_z; data_n[3] = 0.0f;
891 inline PointNormal (
float _x,
float _y,
float _z,
float n_x,
float n_y,
float n_z,
float _curvature = 0.f)
893 x = _x; y = _y; z = _z;
895 normal_x = n_x; normal_y = n_y; normal_z = n_z;
955 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
956 normal_x = p.normal_x; normal_y = p.normal_y; normal_z = p.normal_z; data_n[3] = 0.0f;
970 inline PointXYZRGBNormal (
float _x,
float _y,
float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b):
973 inline PointXYZRGBNormal (
float _x,
float _y,
float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b,
974 float n_x,
float n_y,
float n_z,
float _curvature = 0.f)
976 x = _x; y = _y; z = _z;
978 r = _r; g = _g; b = _b;
980 normal_x = n_x; normal_y = n_y; normal_z = n_z;
1012 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
1013 normal_x = p.normal_x; normal_y = p.normal_y; normal_z = p.normal_z; data_n[3] = 0.0f;
1024 float n_x,
float n_y,
float n_z,
float _curvature = 0.f)
1026 x = _x; y = _y; z = _z;
1029 normal_x = n_x; normal_y = n_y; normal_z = n_z;
1062 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
1063 normal_x = p.normal_x; normal_y = p.normal_y; normal_z = p.normal_z; data_n[3] = 0.0f;
1074 float n_x,
float n_y,
float n_z,
float _curvature = 0.f)
1076 x = _x; y = _y; z = _z;
1079 normal_x = n_x; normal_y = n_y; normal_z = n_z;
1112 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
1120 x = _x; y = _y; z = _z;
1153 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
1163 PCL_DEPRECATED(
"Use ctor accepting all viewpoint (vp_x, vp_y, vp_z) data")
1171 x = _x; y = _y; z = _z;
1173 vp_x = _vp_x; vp_y = _vp_y; vp_z = _vp_z;
1217 #if defined(_LIBCPP_VERSION) && _LIBCPP_VERSION <= 1101
1218 operator unsigned char()
const
1299 inline PPFSignature (
float _f1,
float _f2,
float _f3,
float _f4,
float _alpha = 0.f):
1315 CPPFSignature (0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, _alpha) {}
1317 inline CPPFSignature (
float _f1,
float _f2,
float _f3,
float _f4,
float _f5,
float _f6,
1318 float _f7,
float _f8,
float _f9,
float _f10,
float _alpha = 0.f):
1319 f1 (_f1),
f2 (_f2),
f3 (_f3),
f4 (_f4),
f5 (_f5),
f6 (_f6),
1340 inline PPFRGBSignature (
float _f1,
float _f2,
float _f3,
float _f4,
float _alpha,
float _r,
float _g,
float _b):
1439 inline const Eigen::Map<const Eigen::Vector3f>
getXAxisVector3fMap ()
const {
return (Eigen::Vector3f::Map (x_axis)); }
1441 inline const Eigen::Map<const Eigen::Vector3f>
getYAxisVector3fMap ()
const {
return (Eigen::Vector3f::Map (y_axis)); }
1443 inline const Eigen::Map<const Eigen::Vector3f>
getZAxisVector3fMap ()
const {
return (Eigen::Vector3f::Map (z_axis)); }
1444 inline Eigen::Map<Eigen::Matrix3f>
getMatrix3fMap () {
return (Eigen::Matrix3f::Map (rf)); }
1445 inline const Eigen::Map<const Eigen::Matrix3f>
getMatrix3fMap ()
const {
return (Eigen::Matrix3f::Map (rf)); }
1455 std::copy_n(p.
rf, 9, rf);
1460 std::fill_n(x_axis, 3, 0);
1461 std::fill_n(y_axis, 3, 0);
1462 std::fill_n(z_axis, 3, 0);
1612 inline Narf36 () =
default;
1614 inline Narf36 (
float _x,
float _y,
float _z):
Narf36 (_x, _y, _z, 0.f, 0.f, 0.f) {}
1616 inline Narf36 (
float _x,
float _y,
float _z,
float _roll,
float _pitch,
float _yaw):
1704 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
1714 float _angle = -1.f,
float _response = 0.f,
int _octave = 0)
1716 x = _x; y = _y; z = _z;
1755 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
1766 normal_x = normal_y = normal_z = data_n[3] = 0.0f;
1794 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
1804 inline PointDEM (
float _x,
float _y,
float _z,
float _intensity,
1805 float _intensity_variance,
float _height_variance)
1807 x = _x; y = _y; z = _z;
1817 template <
int N> std::ostream&
1825 [&os](
const auto& hist) { os <<
", " << hist; });
A 2D point structure representing pixel image coordinates.
Intensity(float _intensity=0.f)
PointWithViewpoint(float _x, float _y, float _z)
static int descriptorSize()
Label(std::uint32_t _label=0)
PointXYZRGBL(float _x, float _y, float _z)
PointXYZRGBA(const _PointXYZRGBA &p)
Defines all the PCL and non-PCL macros used.
A point structure representing the Point Feature Histogram (PFH).
This file defines compatibility wrappers for low level I/O functions.
PointWithRange(float _x, float _y, float _z, float _range=0.f)
A point structure representing Digital Elevation Map.
A point structure representing normal coordinates and the surface curvature estimate.
friend std::ostream & operator<<(std::ostream &os, const VFHSignature308 &p)
A point structure representing the minimum and maximum surface radii (in meters) computed using RSD.
Axis(float n_x, float n_y, float n_z)
PointXYZL(std::uint32_t _label=0)
const Eigen::Map< const Eigen::Vector3f > getYAxisVector3fMap() const
PointXYZI(const _PointXYZI &p)
A point structure for storing the Point Pair Color Feature (PPFRGB) values.
PointXYZRGBL(float _x, float _y, float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, std::uint32_t _label=0)
float scale
Diameter of the meaningful keypoint neighborhood.
friend std::ostream & operator<<(std::ostream &os, const ESFSignature640 &p)
GASDSignature7992()=default
PointXY(float _x, float _y)
Eigen::Matrix< std::uint8_t, 3, 1 > Vector3c
PrincipalRadiiRSD()=default
friend std::ostream & operator<<(std::ostream &os, const ShapeContext1980 &p)
friend std::ostream & operator<<(std::ostream &os, const CPPFSignature &p)
A surfel, that is, a point structure representing Euclidean xyz coordinates, together with normal coo...
A point structure representing the Normal Based Signature for a feature matrix of 4-by-3.
static int descriptorSize()
GASDSignature512()=default
A point structure representing the Globally Aligned Spatial Distribution (GASD) shape descriptor.
PointXYZRGBA(float _x, float _y, float _z)
PointDEM(const _PointDEM &p)
static int descriptorSize()
friend std::ostream & operator<<(std::ostream &os, const PointXYZL &p)
Eigen::Map< Eigen::Vector3f > getYAxisVector3fMap()
friend std::ostream & operator<<(std::ostream &os, const GASDSignature512 &p)
static int descriptorSize()
static int descriptorSize()
PFHSignature125()=default
A point structure representing a description of whether a point is lying on a surface boundary or not...
static int descriptorSize()
static int descriptorSize()
float angle
Computed orientation of the keypoint (-1 if not applicable).
MomentInvariants(float _j1, float _j2, float _j3)
friend std::ostream & operator<<(std::ostream &os, const RGB &p)
NormalBasedSignature12()=default
A point structure representing the Fast Point Feature Histogram (FPFH).
friend std::ostream & operator<<(std::ostream &os, const UniqueShapeContext1960 &p)
unsigned char descriptor[64]
PointXYZRGBNormal(float _x, float _y, float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b)
friend std::ostream & operator<<(std::ostream &os, const Boundary &p)
PointWithRange(float _range=0.f)
friend std::ostream & operator<<(std::ostream &os, const SHOT1344 &p)
friend std::ostream & operator<<(std::ostream &os, const PFHSignature125 &p)
friend std::ostream & operator<<(std::ostream &os, const GRSDSignature21 &p)
friend std::ostream & operator<<(std::ostream &os, const SHOT352 &p)
A point structure representing Euclidean xyz coordinates, intensity, together with normal coordinates...
float principal_curvature_z
float principal_curvature[3]
A point structure representing the grayscale intensity in single-channel images.
GASDSignature984()=default
PrincipalCurvatures(float _x, float _y, float _z, float _pc1, float _pc2)
const Eigen::Map< const Eigen::Vector3f > getZAxisVector3fMap() const
friend std::ostream & operator<<(std::ostream &os, const PointWithScale &p)
PointXYZRGBNormal(float _x, float _y, float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, float n_x, float n_y, float n_z, float _curvature=0.f)
static int descriptorSize()
A point structure representing Euclidean xyz coordinates, and the RGB color.
PPFRGBSignature(float _f1, float _f2, float _f3, float _f4, float _alpha=0.f)
Eigen::Map< Vector3c > Vector3cMap
PointWithViewpoint(float _x, float _y, float _z, float _vp_x, float _vp_y, float _vp_z)
A point structure representing a Unique Shape Context.
PointNormal(const _PointNormal &p)
PointDEM(float _x, float _y, float _z)
A point structure representing Euclidean xyz coordinates together with the viewpoint from which it wa...
A point structure representing Euclidean xyz coordinates, and the intensity value.
friend std::ostream & operator<<(std::ostream &os, const FPFHSignature33 &p)
PrincipalRadiiRSD(float _r_min, float _r_max)
friend std::ostream & operator<<(std::ostream &os, const BorderDescription &p)
PointXYZRGBNormal(float _x, float _y, float _z)
const Eigen::Map< const Eigen::Vector3f > getXAxisVector3fMap() const
A point structure representing the grayscale intensity in single-channel images.
int octave
octave (pyramid layer) from which the keypoint has been extracted.
Narf36(float _x, float _y, float _z)
Intensity(const _Intensity &p)
A point structure representing a Shape Context.
PointXYZINormal(float _intensity=0.f)
friend std::ostream & operator<<(std::ostream &os, const Intensity32u &p)
A point structure representing the GFPFH descriptor with 16 bins.
friend std::ostream & operator<<(std::ostream &os, const NormalBasedSignature12 &p)
std::ostream & operator<<(std::ostream &os, const BivariatePolynomialT< real > &p)
Intensity8u(std::uint8_t _intensity=0)
friend std::ostream & operator<<(std::ostream &os, const PointSurfel &p)
PointXYZRGB(std::uint8_t _r, std::uint8_t _g, std::uint8_t _b)
friend std::ostream & operator<<(std::ostream &os, const Intensity8u &p)
PFHRGBSignature250()=default
Eigen::Map< Eigen::Array3f > Array3fMap
A point structure representing the Globally Aligned Spatial Distribution (GASD) shape and color descr...
friend std::ostream & operator<<(std::ostream &os, const BRISKSignature512 &p)
friend std::ostream & operator<<(std::ostream &os, const GASDSignature7992 &p)
A point structure representing Euclidean xyz coordinates, and the RGBA color.
PointXYZHSV(const _PointXYZHSV &p)
PointUV(float _u, float _v)
PointXYZL(const _PointXYZL &p)
friend std::ostream & operator<<(std::ostream &os, const PrincipalCurvatures &p)
PointXYZRGBL(const _PointXYZRGBL &p)
static int descriptorSize()
static int descriptorSize()
PointXYZRGB(float _x, float _y, float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b)
A point structure representing the Global Radius-based Surface Descriptor (GRSD).
A point structure representing Euclidean xyz coordinates.
PPFRGBSignature(float _f1, float _f2, float _f3, float _f4, float _alpha, float _r, float _g, float _b)
A point structure for storing the Point Pair Feature (CPPF) values.
PointXYZINormal(float _x, float _y, float _z, float _intensity=0.f)
PointXYZRGBL(std::uint8_t _r, std::uint8_t _g, std::uint8_t _b)
A point structure representing the grayscale intensity in single-channel images.
PointXYZINormal(const _PointXYZINormal &p)
A point structure for storing the Point Pair Feature (PPF) values.
const Eigen::Map< const Vector4c, Eigen::Aligned > Vector4cMapConst
PointXYZLNormal(float _x, float _y, float _z, std::uint32_t _label=0.f)
PointXYZLNormal(const _PointXYZLNormal &p)
Eigen::Map< Eigen::Vector3f > getZAxisVector3fMap()
friend std::ostream & operator<<(std::ostream &os, const GASDSignature984 &p)
float principal_curvature_y
ShapeContext1980()=default
Eigen::Map< Eigen::Array4f, Eigen::Aligned > Array4fMap
PPFSignature(float _alpha=0.f)
PointXYZI(float _x, float _y, float _z, float _intensity=0.f)
CPPFSignature(float _alpha=0.f)
A point structure representing the Binary Robust Invariant Scalable Keypoints (BRISK).
const Eigen::Map< const Eigen::Array4f, Eigen::Aligned > Array4fMapConst
A point structure representing an Axis using its normal coordinates.
friend std::ostream & operator<<(std::ostream &os, const PointXYZLNormal &p)
PointWithScale(const _PointWithScale &p)
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
A structure representing RGB color information.
PointXYZ(float _x, float _y, float _z)
Intensity8u(const _Intensity8u &p)
A point structure representing the Point Feature Histogram with colors (PFHRGB).
A point structure representing the three moment invariants.
A point structure representing an interest point with Euclidean xyz coordinates, and an interest valu...
Normal(float n_x, float n_y, float n_z, float _curvature=0.f)
BRISKSignature512(float _scale, float _orientation)
friend std::ostream & operator<<(std::ostream &os, const PointDEM &p)
PointXYZRGBA(float _x, float _y, float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, std::uint8_t _a)
PointXYZRGB(const _PointXYZRGB &p)
PPFSignature(float _f1, float _f2, float _f3, float _f4, float _alpha=0.f)
friend std::ostream & operator<<(std::ostream &os, const PFHRGBSignature250 &p)
A point structure representing Euclidean xyz coordinates, together with normal coordinates and the su...
PointXYZI(float _intensity=0.f)
PointXYZRGBNormal(float _curvature=0.f)
float principal_curvature_x
PointNormal(float _x, float _y, float _z)
Narf36(float _x, float _y, float _z, float _roll, float _pitch, float _yaw)
A 2D point structure representing Euclidean xy coordinates.
PointXYZHSV(float _x, float _y, float _z, float _h, float _s, float _v)
friend std::ostream & operator<<(std::ostream &os, const PrincipalRadiiRSD &p)
static int descriptorSize()
friend std::ostream & operator<<(std::ostream &os, const PointXYZINormal &p)
PointXYZLNormal(float _x, float _y, float _z, std::uint32_t _label, float n_x, float n_y, float n_z, float _curvature=0.f)
friend std::ostream & operator<<(std::ostream &os, const Label &p)
PointDEM(float _x, float _y, float _z, float _intensity, float _intensity_variance, float _height_variance)
friend std::ostream & operator<<(std::ostream &os, const Narf36 &p)
std::bitset< 32 > BorderTraits
Data type to store extended information about a transition from foreground to backgroundSpecification...
A point structure representing the principal curvatures and their magnitudes.
PointXYZ(const _PointXYZ &p)
PointXYZRGB(float _x, float _y, float _z)
A point structure representing the Narf descriptor.
friend std::ostream & operator<<(std::ostream &os, const PointXY &p)
PointXYZL(float _x, float _y, float _z, std::uint32_t _label=0)
static int descriptorSize()
float response
The response by which the most strong keypoints have been selected.
const Eigen::Map< const Eigen::Vector3f > Vector3fMapConst
static int descriptorSize()
PointNormal(float _curvature=0.f)
GRSDSignature21()=default
A point structure representing the Ensemble of Shape Functions (ESF).
PPFRGBSignature(float _alpha=0.f)
friend std::ostream & operator<<(std::ostream &os, const GFPFHSignature16 &p)
A point structure representing a 3-D position and scale.
static int descriptorSize()
PointXYZRGBA(std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, std::uint8_t _a)
A point structure representing the Globally Aligned Spatial Distribution (GASD) shape and color descr...
PointXYZRGBL(std::uint32_t _label=0)
A point structure representing Euclidean xyz coordinates, padded with an extra range float.
A point structure representing an N-D histogram.
friend std::ostream & operator<<(std::ostream &os, const PointNormal &p)
ReferenceFrame(const _ReferenceFrame &p)
UniqueShapeContext1960()=default
BRISKSignature512()=default
Eigen::Map< Eigen::Vector3f > getXAxisVector3fMap()
std::uint8_t boundary_point
friend std::ostream & operator<<(std::ostream &os, const PointWithRange &p)
Intensity32u(std::uint32_t _intensity=0)
friend std::ostream & operator<<(std::ostream &os, const Normal &p)
A point structure representing Euclidean xyz coordinates, and the RGB color, together with normal coo...
Eigen::Matrix< std::uint8_t, 4, 1 > Vector4c
const Eigen::Map< const Vector3c > Vector3cMapConst
friend std::ostream & operator<<(std::ostream &os, const PointXYZI &p)
static int descriptorSize()
static int descriptorSize()
A point structure representing Euclidean xyz coordinates, a label, together with normal coordinates a...
A structure to store if a point in a range image lies on a border between an obstacle and the backgro...
FPFHSignature33()=default
Boundary(std::uint8_t _boundary=0)
BorderDescription()=default
A point structure representing the generic Signature of Histograms of OrienTations (SHOT) - shape+col...
friend std::ostream & operator<<(std::ostream &os, const MomentInvariants &p)
PointXYZLNormal(std::uint32_t _label=0)
PrincipalCurvatures(float _x, float _y, float _z)
PointXYZINormal(float _x, float _y, float _z, float _intensity, float n_x, float n_y, float n_z, float _curvature=0.f)
A point structure representing the generic Signature of Histograms of OrienTations (SHOT) - shape onl...
friend std::ostream & operator<<(std::ostream &os, const PPFRGBSignature &p)
PointXYZRGBNormal(std::uint8_t _r, std::uint8_t _g, std::uint8_t _b)
Eigen::Map< Eigen::Vector3f > Vector3fMap
#define PCL_DEPRECATED(message)
const Eigen::Map< const Eigen::Matrix3f > getMatrix3fMap() const
GFPFHSignature16()=default
friend std::ostream & operator<<(std::ostream &os, const PPFSignature &p)
friend std::ostream & operator<<(std::ostream &os, const PointXYZRGBNormal &p)
RGB(std::uint8_t _r, std::uint8_t _g, std::uint8_t _b)
Eigen::Map< Eigen::Vector4f, Eigen::Aligned > Vector4fMap
Normal(float _curvature=0.f)
friend std::ostream & operator<<(std::ostream &os, const IntensityGradient &p)
PointWithRange(const _PointWithRange &p)
VFHSignature308()=default
Eigen::Map< Vector4c, Eigen::Aligned > Vector4cMap
PointWithViewpoint(const _PointWithViewpoint &p)
MomentInvariants()=default
PointXYZRGBNormal(const _PointXYZRGBNormal &p)
IntensityGradient(float _x, float _y, float _z)
PointNormal(float _x, float _y, float _z, float n_x, float n_y, float n_z, float _curvature=0.f)
PointXYZHSV(float _h, float _s, float _v)
Eigen::Map< Eigen::Matrix3f > getMatrix3fMap()
static int descriptorSize()
const Eigen::Map< const Eigen::Array3f > Array3fMapConst
friend std::ostream & operator<<(std::ostream &os, const Intensity &p)
friend std::ostream & operator<<(std::ostream &os, const PointUV &p)
PrincipalCurvatures(float _pc1, float _pc2)
Intensity32u(const _Intensity32u &p)
A structure representing the Local Reference Frame of a point.
ESFSignature640()=default
PointWithScale(float _x, float _y, float _z, float _scale=1.f, float _angle=-1.f, float _response=0.f, int _octave=0)
const Eigen::Map< const Eigen::Vector4f, Eigen::Aligned > Vector4fMapConst
A point structure representing the Viewpoint Feature Histogram (VFH).
CPPFSignature(float _f1, float _f2, float _f3, float _f4, float _f5, float _f6, float _f7, float _f8, float _f9, float _f10, float _alpha=0.f)
A point structure representing the intensity gradient of an XYZI point cloud.
PointSurfel(const _PointSurfel &p)