Point Cloud Library (PCL)
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iros2011
include
typedefs.h
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#ifndef TYPEDEFS_H
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#define TYPEDEFS_H
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#include <pcl/point_types.h>
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#include <pcl/point_cloud.h>
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/* Define some custom types to make the rest of our code easier to read */
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// Define "PointCloud" to be a pcl::PointCloud of pcl::PointXYZRGB points
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typedef
pcl::PointXYZRGB
PointT
;
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typedef
pcl::PointCloud<PointT>
PointCloud
;
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typedef
pcl::PointCloud<PointT>::Ptr
PointCloudPtr;
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typedef
pcl::PointCloud<PointT>::ConstPtr
PointCloudConstPtr;
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// Define "SurfaceNormals" to be a pcl::PointCloud of pcl::Normal points
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typedef
pcl::Normal
NormalT
;
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typedef
pcl::PointCloud<NormalT>
SurfaceNormals
;
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typedef
pcl::PointCloud<NormalT>::Ptr
SurfaceNormalsPtr;
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typedef
pcl::PointCloud<NormalT>::ConstPtr
SurfaceNormalsConstPtr;
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// Define "SurfaceElements" to be a pcl::PointCloud of pcl::PointNormal points
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typedef
pcl::PointNormal
SurfelT
;
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typedef
pcl::PointCloud<SurfelT>
SurfaceElements
;
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typedef
pcl::PointCloud<SurfelT>::Ptr
SurfaceElementsPtr;
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typedef
pcl::PointCloud<SurfelT>::ConstPtr
SurfaceElementsConstPtr;
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// Define "LocalDescriptors" to be a pcl::PointCloud of pcl::FPFHSignature33 points
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typedef
pcl::FPFHSignature33
LocalDescriptorT
;
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typedef
pcl::PointCloud<LocalDescriptorT>
LocalDescriptors
;
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typedef
pcl::PointCloud<LocalDescriptorT>::Ptr
LocalDescriptorsPtr;
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typedef
pcl::PointCloud<LocalDescriptorT>::ConstPtr
LocalDescriptorsConstPtr;
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// Define "GlobalDescriptors" to be a pcl::PointCloud of pcl::VFHSignature308 points
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typedef
pcl::VFHSignature308
GlobalDescriptorT
;
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typedef
pcl::PointCloud<GlobalDescriptorT>
GlobalDescriptors
;
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typedef
pcl::PointCloud<GlobalDescriptorT>::Ptr
GlobalDescriptorsPtr;
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typedef
pcl::PointCloud<GlobalDescriptorT>::ConstPtr
GlobalDescriptorsConstPtr;
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#endif