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00024 #ifndef RGBDTOOLS_TYPES_H
00025 #define RGBDTOOLS_TYPES_H
00026
00027 #include <Eigen/Core>
00028 #include <opencv2/core/core.hpp>
00029 #include <opencv2/features2d/features2d.hpp>
00030 #include <pcl/point_types.h>
00031 #include <pcl/kdtree/kdtree_flann.h>
00032 #include <pcl/registration/transformation_estimation_svd.h>
00033
00034 namespace rgbdtools {
00035
00036
00037
00038 typedef Eigen::Matrix3f Matrix3f;
00039 typedef Eigen::Vector3f Vector3f;
00040 typedef Eigen::Affine3f Pose;
00041 typedef Eigen::Affine3f AffineTransform;
00042 typedef Eigen::Matrix<double,6,6> InformationMatrix;
00043
00044
00045
00046 typedef std::vector<int> IntVector;
00047 typedef std::vector<float> FloatVector;
00048 typedef std::vector<bool> BoolVector;
00049 typedef std::vector<cv::Point2f> Point2fVector;
00050 typedef std::vector<cv::Point3f> Point3fVector;
00051 typedef std::vector<Eigen::Matrix3f> Matrix3fVector;
00052 typedef std::vector<Eigen::Vector3f> Vector3fVector;
00053 typedef std::vector<cv::KeyPoint> KeypointVector;
00054 typedef std::vector<cv::DMatch> DMatchVector;
00055
00056 typedef Eigen::aligned_allocator<AffineTransform> AffineTransformAllocator;
00057 typedef std::vector<AffineTransform, AffineTransformAllocator> AffineTransformVector;
00058
00059
00060
00061 typedef pcl::PointXYZRGB PointT;
00062 typedef pcl::PointCloud<PointT> PointCloudT;
00063
00064 typedef pcl::PointXYZ PointFeature;
00065 typedef pcl::PointCloud<PointFeature> PointCloudFeature;
00066
00067 typedef pcl::KdTreeFLANN<PointFeature> KdTree;
00068 typedef pcl::registration::TransformationEstimationSVD<PointFeature, PointFeature> TransformationEstimationSVD;
00069
00070 }
00071
00072 #endif // RGBDTOOLS_TYPES_H