00001 #ifndef TYPEDEFS_H 00002 #define TYPEDEFS_H 00003 00004 #include <pcl/point_types.h> 00005 #include <pcl/point_cloud.h> 00006 00007 /* Define some custom types to make the rest of our code easier to read */ 00008 00009 // Define "PointCloud" to be a pcl::PointCloud of pcl::PointXYZRGB points 00010 typedef pcl::PointXYZRGB PointT; 00011 typedef pcl::PointCloud<PointT> PointCloud; 00012 typedef pcl::PointCloud<PointT>::Ptr PointCloudPtr; 00013 typedef pcl::PointCloud<PointT>::ConstPtr PointCloudConstPtr; 00014 00015 // Define "SurfaceNormals" to be a pcl::PointCloud of pcl::Normal points 00016 typedef pcl::Normal NormalT; 00017 typedef pcl::PointCloud<NormalT> SurfaceNormals; 00018 typedef pcl::PointCloud<NormalT>::Ptr SurfaceNormalsPtr; 00019 typedef pcl::PointCloud<NormalT>::ConstPtr SurfaceNormalsConstPtr; 00020 00021 // Define "SurfaceElements" to be a pcl::PointCloud of pcl::PointNormal points 00022 typedef pcl::PointNormal SurfelT; 00023 typedef pcl::PointCloud<SurfelT> SurfaceElements; 00024 typedef pcl::PointCloud<SurfelT>::Ptr SurfaceElementsPtr; 00025 typedef pcl::PointCloud<SurfelT>::ConstPtr SurfaceElementsConstPtr; 00026 00027 00028 // Define "LocalDescriptors" to be a pcl::PointCloud of pcl::FPFHSignature33 points 00029 typedef pcl::FPFHSignature33 LocalDescriptorT; 00030 typedef pcl::PointCloud<LocalDescriptorT> LocalDescriptors; 00031 typedef pcl::PointCloud<LocalDescriptorT>::Ptr LocalDescriptorsPtr; 00032 typedef pcl::PointCloud<LocalDescriptorT>::ConstPtr LocalDescriptorsConstPtr; 00033 00034 // Define "GlobalDescriptors" to be a pcl::PointCloud of pcl::VFHSignature308 points 00035 typedef pcl::VFHSignature308 GlobalDescriptorT; 00036 typedef pcl::PointCloud<GlobalDescriptorT> GlobalDescriptors; 00037 typedef pcl::PointCloud<GlobalDescriptorT>::Ptr GlobalDescriptorsPtr; 00038 typedef pcl::PointCloud<GlobalDescriptorT>::ConstPtr GlobalDescriptorsConstPtr; 00039 00040 #endif