Point Cloud Library (PCL)
1.7.1
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include
pcl
recognition
point_types.h
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#ifndef PCL_RECOGNITION_POINT_TYPES
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#define PCL_RECOGNITION_POINT_TYPES
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#include <pcl/pcl_base.h>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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namespace
pcl
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{
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/** \brief A point structure for representing RGB color
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* \ingroup common
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*/
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//struct EIGEN_ALIGN16 PointRGB
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//{
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// union
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// {
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// union
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// {
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// struct
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// {
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// uint8_t b;
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// uint8_t g;
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// uint8_t r;
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// uint8_t _unused;
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// };
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// float rgb;
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// };
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// uint32_t rgba;
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// };
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// inline PointRGB ()
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// {}
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// inline PointRGB (const uint8_t b, const uint8_t g, const uint8_t r)
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// : b (b), g (g), r (r), _unused (0)
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// {}
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// EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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//};
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/** \brief A point structure representing Euclidean xyz coordinates, and the intensity value.
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* \ingroup common
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*/
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struct
EIGEN_ALIGN16
GradientXY
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{
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union
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{
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struct
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{
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float
x;
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float
y;
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float
angle;
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float
magnitude;
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};
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float
data[4];
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};
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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inline
bool
operator< (
const
GradientXY
& rhs)
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{
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return
(magnitude > rhs.
magnitude
);
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}
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};
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inline
std::ostream &
operator <<
(std::ostream & os,
const
GradientXY & p)
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{
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os <<
"("
<< p.x <<
","
<< p.y <<
" - "
<< p.magnitude <<
")"
;
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return
(os);
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}
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}
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#endif