39 #ifndef PCL_DATA_TYPES_H_ 40 #define PCL_DATA_TYPES_H_ 42 #include <pcl/pcl_macros.h> 44 #include <pcl/register_point_struct.h> 45 #include <boost/mpl/contains.hpp> 46 #include <boost/mpl/fold.hpp> 47 #include <boost/mpl/vector.hpp> 58 #pragma warning(disable: 4201) 62 # pragma GCC system_header 141 struct InterestPoint;
161 struct PointXYZRGBNormal;
166 struct PointXYZINormal;
171 struct PointXYZLNormal;
176 struct PointWithRange;
181 struct PointWithViewpoint;
186 struct MomentInvariants;
191 struct PrincipalRadiiRSD;
201 struct PrincipalCurvatures;
216 struct ReferenceFrame;
221 struct ShapeContext1980;
226 struct UniqueShapeContext1960;
246 struct CPPFSignature;
251 struct PPFRGBSignature;
256 struct NormalBasedSignature12;
271 struct GRSDSignature21;
276 struct ESFSignature640;
281 struct GFPFHSignature16;
286 struct BRISKSignature512;
344 #include <pcl/impl/point_types.hpp> 351 (uint32_t, rgba, rgba)
356 (
float, intensity, intensity)
361 (uint8_t, intensity, intensity)
366 (uint32_t, intensity, intensity)
381 (uint32_t, rgba, rgba)
397 (uint32_t, rgba, rgba)
398 (uint32_t, label, label)
426 (
float, strength, strength)
433 (
float, intensity, intensity)
441 (uint32_t, label, label)
445 (uint32_t, label, label)
449 (
float, normal_x, normal_x)
450 (
float, normal_y, normal_y)
451 (
float, normal_z, normal_z)
452 (
float, curvature, curvature)
454 POINT_CLOUD_REGISTER_POINT_WRAPPER(
pcl::
Normal,
pcl::_Normal)
457 (
float, normal_x, normal_x)
458 (
float, normal_y, normal_y)
459 (
float, normal_z, normal_z)
461 POINT_CLOUD_REGISTER_POINT_WRAPPER(
pcl::
Axis,
pcl::_Axis)
467 (
float, normal_x, normal_x)
468 (
float, normal_y, normal_y)
469 (
float, normal_z, normal_z)
470 (
float, curvature, curvature)
477 (
float, normal_x, normal_x)
478 (
float, normal_y, normal_y)
479 (
float, normal_z, normal_z)
480 (
float, curvature, curvature)
487 (
float, intensity, intensity)
488 (
float, normal_x, normal_x)
489 (
float, normal_y, normal_y)
490 (
float, normal_z, normal_z)
491 (
float, curvature, curvature)
497 (uint32_t, label, label)
498 (
float, normal_x, normal_x)
499 (
float, normal_y, normal_y)
500 (
float, normal_z, normal_z)
501 (
float, curvature, curvature)
507 (
float, range, range)
527 (
float, r_min, r_min)
528 (
float, r_max, r_max)
532 (uint8_t, boundary_point, boundary_point)
536 (
float, principal_curvature_x, principal_curvature_x)
537 (
float, principal_curvature_y, principal_curvature_y)
538 (
float, principal_curvature_z, principal_curvature_z)
544 (
float[125], histogram, pfh)
548 (
float[250], histogram, pfhrgb)
556 (
float, alpha_m, alpha_m)
570 (
float, alpha_m, alpha_m)
578 (
float, r_ratio, r_ratio)
579 (
float, g_ratio, g_ratio)
580 (
float, b_ratio, b_ratio)
581 (
float, alpha_m, alpha_m)
585 (
float[12], values, values)
589 (
float[1980], descriptor, shape_context)
594 (
float[1960], descriptor, shape_context)
599 (
float[352], descriptor, shot)
604 (
float[1344], descriptor, shot)
609 (
float[33], histogram, fpfh)
613 (
float, scale, brisk_scale)
614 (
float, orientation, brisk_orientation)
615 (
unsigned char[64], descriptor, brisk_descriptor512)
619 (
float[308], histogram, vfh)
623 (
float[21], histogram, grsd)
627 (
float[640], histogram, esf)
631 (
float[36], descriptor, descriptor)
635 (
float[16], histogram, gfpfh)
639 (
float, gradient_x, gradient_x)
640 (
float, gradient_y, gradient_y)
641 (
float, gradient_z, gradient_z)
648 (
float, scale, scale)
655 (
float, normal_x, normal_x)
656 (
float, normal_y, normal_y)
657 (
float, normal_z, normal_z)
658 (uint32_t, rgba, rgba)
659 (
float, radius, radius)
660 (
float, confidence, confidence)
661 (
float, curvature, curvature)
665 (
float[3], x_axis, x_axis)
666 (
float[3], y_axis, y_axis)
667 (
float[3], z_axis, z_axis)
675 (
float, intensity, intensity)
676 (
float, intensity_variance, intensity_variance)
677 (
float, height_variance, height_variance)
685 template<
typename Po
intT>
690 if (field.
name ==
"rgb")
703 template<
typename Po
intT>
708 if (field.
name ==
"rgba")
741 template <
typename Po
intT,
typename Field>
742 struct has_field : boost::mpl::contains<typename pcl::traits::fieldList<PointT>::type, Field>::type
746 template <
typename Po
intT,
typename Field>
747 struct has_all_fields : boost::mpl::fold<Field,
748 boost::mpl::bool_<true>,
749 boost::mpl::and_<boost::mpl::_1,
750 has_field<PointT, boost::mpl::_2> > >::type
754 template <
typename Po
intT,
typename Field>
755 struct has_any_field : boost::mpl::fold<Field,
756 boost::mpl::bool_<false>,
757 boost::mpl::or_<boost::mpl::_1,
758 has_field<PointT, boost::mpl::_2> > >::type
762 template <
typename Po
intT>
763 struct has_xyz : has_all_fields<PointT, boost::mpl::vector<pcl::fields::x,
770 template <
typename Po
intT>
771 struct has_normal : has_all_fields<PointT, boost::mpl::vector<pcl::fields::normal_x,
772 pcl::fields::normal_y,
773 pcl::fields::normal_z> >
777 template <
typename Po
intT>
778 struct has_curvature : has_field<PointT, pcl::fields::curvature>
782 template <
typename Po
intT>
783 struct has_intensity : has_field<PointT, pcl::fields::intensity>
787 template <
typename Po
intT>
788 struct has_color : has_any_field<PointT, boost::mpl::vector<pcl::fields::rgb,
793 template <
typename Po
intT>
794 struct has_label : has_field<PointT, pcl::fields::label>
802 #pragma warning(default: 4201) 806 #endif //#ifndef PCL_DATA_TYPES_H_ A point structure representing normal coordinates and the surface curvature estimate.
Histogram< 125 > PFHSignature125
A point structure representing the grayscale intensity in single-channel images.
A point structure representing a Shape Context.
A point structure representing a description of whether a point is lying on a surface boundary or not...
A point structure representing Euclidean xyz coordinates, a label, together with normal coordinates a...
A point structure representing Euclidean xyz coordinates, padded with an extra range float...
A point structure representing the Normal Based Signature for a feature matrix of 4-by-3...
A point structure representing a Unique Shape Context.
BorderTrait
Specification of the fields for BorderDescription::traits.
A structure representing the Local Reference Frame of a point.
A point structure representing Digital Elevation Map.
A point structure representing the Binary Robust Invariant Scalable Keypoints (BRISK).
A point structure representing an Axis using its normal coordinates.
A point structure representing Euclidean xyz coordinates, and the RGBA color.
A point structure representing the grayscale intensity in single-channel images.
A point structure representing the Fast Point Feature Histogram (FPFH).
A 2D point structure representing Euclidean xy coordinates.
A structure representing RGB color information.
A point structure representing an N-D histogram.
A 2D point structure representing pixel image coordinates.
A point structure representing the GFPFH descriptor with 16 bins.
A point structure representing the Point Feature Histogram with colors (PFHRGB).
A point structure representing Euclidean xyz coordinates, and the intensity value.
POINT_CLOUD_REGISTER_POINT_STRUCT(pcl::_PointXYZLAB,(float, x, x)(float, y, y)(float, z, z)(float, L, L)(float, a, a)(float, b, b)) namespace pcl
A point structure representing Euclidean xyz coordinates.
A point structure representing Euclidean xyz coordinates, intensity, together with normal coordinates...
Histogram< 308 > VFHSignature308
A point structure representing an interest point with Euclidean xyz coordinates, and an interest valu...
Histogram< 33 > FPFHSignature33
A point structure representing the three moment invariants.
A point structure representing the grayscale intensity in single-channel images.
A point structure representing the generic Signature of Histograms of OrienTations (SHOT) - shape onl...
A structure to store if a point in a range image lies on a border between an obstacle and the backgro...
A point structure representing Euclidean xyz coordinates, together with normal coordinates and the su...
Histogram< 250 > PFHRGBSignature250
A point structure for storing the Point Pair Feature (CPPF) values.
A point structure representing Euclidean xyz coordinates together with the viewpoint from which it wa...
A point structure representing the intensity gradient of an XYZI point cloud.
bool operator()(const pcl::PCLPointField &field)
A point structure representing the generic Signature of Histograms of OrienTations (SHOT) - shape+col...
A point structure representing the Viewpoint Feature Histogram (VFH).
A point structure representing a 3-D position and scale.
A point structure representing the minimum and maximum surface radii (in meters) computed using RSD...
A point structure representing the Narf descriptor.
A point structure representing Euclidean xyz coordinates, and the RGB color.
A point structure representing the principal curvatures and their magnitudes.
A point structure representing the Point Feature Histogram (PFH).
A point structure representing the Ensemble of Shape Functions (ESF).
A point structure representing the Global Radius-based Surface Descriptor (GRSD). ...
A surfel, that is, a point structure representing Euclidean xyz coordinates, together with normal coo...
std::bitset< 32 > BorderTraits
Data type to store extended information about a transition from foreground to backgroundSpecification...
A point structure representing Euclidean xyz coordinates, and the RGB color, together with normal coo...
A point structure for storing the Point Pair Feature (PPF) values.
A point structure for storing the Point Pair Color Feature (PPFRGB) values.