43#include <pcl/PCLPointField.h>
45#include <pcl/register_point_struct.h>
47#include <boost/mpl/and.hpp>
48#include <boost/mpl/bool.hpp>
49#include <boost/mpl/contains.hpp>
50#include <boost/mpl/fold.hpp>
51#include <boost/mpl/or.hpp>
52#include <boost/mpl/placeholders.hpp>
53#include <boost/mpl/vector.hpp>
63#define PCL_POINT_TYPES \
74 (pcl::InterestPoint) \
78 (pcl::PointXYZRGBNormal) \
79 (pcl::PointXYZINormal) \
80 (pcl::PointXYZLNormal) \
81 (pcl::PointWithRange) \
82 (pcl::PointWithViewpoint) \
83 (pcl::MomentInvariants) \
84 (pcl::PrincipalRadiiRSD) \
86 (pcl::PrincipalCurvatures) \
87 (pcl::PFHSignature125) \
88 (pcl::PFHRGBSignature250) \
90 (pcl::CPPFSignature) \
91 (pcl::PPFRGBSignature) \
92 (pcl::NormalBasedSignature12) \
93 (pcl::FPFHSignature33) \
94 (pcl::VFHSignature308) \
95 (pcl::GASDSignature512) \
96 (pcl::GASDSignature984) \
97 (pcl::GASDSignature7992) \
98 (pcl::GRSDSignature21) \
99 (pcl::ESFSignature640) \
100 (pcl::BRISKSignature512) \
102 (pcl::IntensityGradient) \
103 (pcl::PointWithScale) \
105 (pcl::ShapeContext1980) \
106 (pcl::UniqueShapeContext1960) \
110 (pcl::ReferenceFrame) \
114#define PCL_RGB_POINT_TYPES \
115 (pcl::PointXYZRGBA) \
117 (pcl::PointXYZRGBL) \
118 (pcl::PointXYZRGBNormal) \
122#define PCL_XYZ_POINT_TYPES \
126 (pcl::PointXYZRGBA) \
128 (pcl::PointXYZRGBL) \
131 (pcl::InterestPoint) \
133 (pcl::PointXYZRGBNormal) \
134 (pcl::PointXYZINormal) \
135 (pcl::PointXYZLNormal) \
136 (pcl::PointWithRange) \
137 (pcl::PointWithViewpoint) \
138 (pcl::PointWithScale) \
143#define PCL_XYZL_POINT_TYPES \
145 (pcl::PointXYZRGBL) \
146 (pcl::PointXYZLNormal)
149#define PCL_NORMAL_POINT_TYPES \
152 (pcl::PointXYZRGBNormal) \
153 (pcl::PointXYZINormal) \
154 (pcl::PointXYZLNormal) \
158#define PCL_FEATURE_POINT_TYPES \
159 (pcl::PFHSignature125) \
160 (pcl::PFHRGBSignature250) \
161 (pcl::PPFSignature) \
162 (pcl::CPPFSignature) \
163 (pcl::PPFRGBSignature) \
164 (pcl::NormalBasedSignature12) \
165 (pcl::FPFHSignature33) \
166 (pcl::VFHSignature308) \
167 (pcl::GASDSignature512) \
168 (pcl::GASDSignature984) \
169 (pcl::GASDSignature7992) \
170 (pcl::GRSDSignature21) \
171 (pcl::ESFSignature640) \
172 (pcl::BRISKSignature512) \
176#define PCL_DESCRIPTOR_FEATURE_POINT_TYPES \
177 (pcl::PFHSignature125) \
178 (pcl::PFHRGBSignature250) \
179 (pcl::FPFHSignature33) \
180 (pcl::VFHSignature308) \
181 (pcl::GASDSignature512) \
182 (pcl::GASDSignature984) \
183 (pcl::GASDSignature7992) \
184 (pcl::GRSDSignature21) \
185 (pcl::ESFSignature640) \
186 (pcl::BRISKSignature512) \
217 template<
typename FeaturePo
intT>
226 using Array4fMap = Eigen::Map<Eigen::Array4f, Eigen::Aligned>;
233 using Vector3c = Eigen::Matrix<std::uint8_t, 3, 1>;
236 using Vector4c = Eigen::Matrix<std::uint8_t, 4, 1>;
240#define PCL_ADD_UNION_POINT4D \
241 union EIGEN_ALIGN16 { \
250#define PCL_ADD_EIGEN_MAPS_POINT4D \
251 inline pcl::Vector2fMap getVector2fMap () { return (pcl::Vector2fMap (data)); } \
252 inline pcl::Vector2fMapConst getVector2fMap () const { return (pcl::Vector2fMapConst (data)); } \
253 inline pcl::Vector3fMap getVector3fMap () { return (pcl::Vector3fMap (data)); } \
254 inline pcl::Vector3fMapConst getVector3fMap () const { return (pcl::Vector3fMapConst (data)); } \
255 inline pcl::Vector4fMap getVector4fMap () { return (pcl::Vector4fMap (data)); } \
256 inline pcl::Vector4fMapConst getVector4fMap () const { return (pcl::Vector4fMapConst (data)); } \
257 inline pcl::Array3fMap getArray3fMap () { return (pcl::Array3fMap (data)); } \
258 inline pcl::Array3fMapConst getArray3fMap () const { return (pcl::Array3fMapConst (data)); } \
259 inline pcl::Array4fMap getArray4fMap () { return (pcl::Array4fMap (data)); } \
260 inline pcl::Array4fMapConst getArray4fMap () const { return (pcl::Array4fMapConst (data)); }
262#define PCL_ADD_POINT4D \
263 PCL_ADD_UNION_POINT4D \
264 PCL_ADD_EIGEN_MAPS_POINT4D
266#define PCL_ADD_UNION_NORMAL4D \
267 union EIGEN_ALIGN16 { \
277#define PCL_ADD_EIGEN_MAPS_NORMAL4D \
278 inline pcl::Vector3fMap getNormalVector3fMap () { return (pcl::Vector3fMap (data_n)); } \
279 inline pcl::Vector3fMapConst getNormalVector3fMap () const { return (pcl::Vector3fMapConst (data_n)); } \
280 inline pcl::Vector4fMap getNormalVector4fMap () { return (pcl::Vector4fMap (data_n)); } \
281 inline pcl::Vector4fMapConst getNormalVector4fMap () const { return (pcl::Vector4fMapConst (data_n)); }
283#define PCL_ADD_NORMAL4D \
284 PCL_ADD_UNION_NORMAL4D \
285 PCL_ADD_EIGEN_MAPS_NORMAL4D
287#define PCL_ADD_UNION_RGB \
301 std::uint32_t rgba; \
304#define PCL_ADD_EIGEN_MAPS_RGB \
305 inline Eigen::Vector3i getRGBVector3i () { return (Eigen::Vector3i (r, g, b)); } \
306 inline const Eigen::Vector3i getRGBVector3i () const { return (Eigen::Vector3i (r, g, b)); } \
307 inline Eigen::Vector4i getRGBVector4i () { return (Eigen::Vector4i (r, g, b, a)); } \
308 inline const Eigen::Vector4i getRGBVector4i () const { return (Eigen::Vector4i (r, g, b, a)); } \
309 inline Eigen::Vector4i getRGBAVector4i () { return (Eigen::Vector4i (r, g, b, a)); } \
310 inline const Eigen::Vector4i getRGBAVector4i () const { return (Eigen::Vector4i (r, g, b, a)); } \
311 inline pcl::Vector3cMap getBGRVector3cMap () { return (pcl::Vector3cMap (reinterpret_cast<std::uint8_t*> (&rgba))); } \
312 inline pcl::Vector3cMapConst getBGRVector3cMap () const { return (pcl::Vector3cMapConst (reinterpret_cast<const std::uint8_t*> (&rgba))); } \
313 inline pcl::Vector4cMap getBGRAVector4cMap () { return (pcl::Vector4cMap (reinterpret_cast<std::uint8_t*> (&rgba))); } \
314 inline pcl::Vector4cMapConst getBGRAVector4cMap () const { return (pcl::Vector4cMapConst (reinterpret_cast<const std::uint8_t*> (&rgba))); }
318 PCL_ADD_EIGEN_MAPS_RGB
320#define PCL_ADD_INTENSITY \
326#define PCL_ADD_INTENSITY_8U \
329 std::uint8_t intensity; \
332#define PCL_ADD_INTENSITY_32U \
335 std::uint32_t intensity; \
371 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const RGB& p);
393 inline constexpr RGB (
const _RGB &p) :
RGB{p.r, p.g, p.b, p.a} {}
397 inline constexpr RGB (std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, std::uint8_t _a = 255) :
_RGB{{{{_b, _g, _r, _a}}}} {}
399 friend std::ostream& operator << (std::ostream& os,
const RGB& p);
407 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const Intensity& p);
418 friend std::ostream& operator << (std::ostream& os,
const Intensity& p);
427 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const Intensity8u& p);
438#if defined(_LIBCPP_VERSION) && _LIBCPP_VERSION <= 1101
439 inline constexpr operator unsigned char()
const
445 friend std::ostream& operator << (std::ostream& os,
const Intensity8u& p);
453 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const Intensity32u& p);
464 friend std::ostream& operator << (std::ostream& os,
const Intensity32u& p);
484 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const PointXYZI& p);
491 inline constexpr PointXYZI (
float _x,
float _y,
float _z,
float _intensity = 0.f) :
_PointXYZI{{{_x, _y, _z, 1.0f}}, {{_intensity}}} {}
493 friend std::ostream& operator << (std::ostream& os,
const PointXYZI& p);
504 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const PointXYZL& p);
511 inline constexpr PointXYZL (
float _x,
float _y,
float _z, std::uint32_t _label = 0) :
_PointXYZL{{{_x, _y, _z, 1.0f}}, _label} {}
513 friend std::ostream& operator << (std::ostream& os,
const PointXYZL& p);
517 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const Label& p);
520 std::uint32_t label = 0;
522 inline constexpr Label (std::uint32_t _label = 0): label(_label) {}
524 friend std::ostream& operator << (std::ostream& os,
const Label& p);
535 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const PointXYZRGBA& p);
562 inline constexpr PointXYZRGBA (std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, std::uint8_t _a):
568 inline constexpr PointXYZRGBA (
float _x,
float _y,
float _z, std::uint8_t _r,
569 std::uint8_t _g, std::uint8_t _b, std::uint8_t _a) :
_PointXYZRGBA{{{_x, _y, _z, 1.0f}}, {{{_b, _g, _r, _a}}}} {}
571 friend std::ostream& operator << (std::ostream& os,
const PointXYZRGBA& p);
590 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const PointXYZRGB& p);
628 inline constexpr PointXYZRGB (std::uint8_t _r, std::uint8_t _g, std::uint8_t _b):
635 std::uint8_t _r, std::uint8_t _g, std::uint8_t _b):
636 _PointXYZRGB{{{_x, _y, _z, 1.0f}}, {{{_b, _g, _r, 255}}}} {}
638 friend std::ostream& operator << (std::ostream& os,
const PointXYZRGB& p);
643 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const PointXYZRGBL& p);
651 inline constexpr PointXYZRGBL (std::uint8_t _r, std::uint8_t _g, std::uint8_t _b):
658 std::uint8_t _r, std::uint8_t _g, std::uint8_t _b,
659 std::uint32_t _label = 0, std::uint8_t _a = 255) :
660 _PointXYZRGBL{{{_x, _y, _z, 1.0f}}, {{{_b, _g, _r, _a}}}, _label} {}
662 friend std::ostream& operator << (std::ostream& os,
const PointXYZRGBL& p);
683 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const PointXYZLAB& p);
694 float _L,
float _a,
float _b) :
697 friend std::ostream& operator << (std::ostream& os,
const PointXYZLAB& p);
718 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const PointXYZHSV& p);
732 float _h,
float _s,
float _v) :
735 friend std::ostream& operator << (std::ostream& os,
const PointXYZHSV& p);
739 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const PointXY& p);
756 inline constexpr PointXY(
float _x,
float _y): x(_x), y(_y) {}
757 inline constexpr PointXY(): x(0.0f), y(0.0f) {}
762 friend std::ostream& operator << (std::ostream& os,
const PointXY& p);
766 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const PointUV& p);
778 inline constexpr PointUV(
float _u,
float _v): u(_u), v(_v) {}
780 friend std::ostream& operator << (std::ostream& os,
const PointUV& p);
783 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const InterestPoint& p);
818 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const Normal& p);
826 inline constexpr Normal (
float _curvature = 0.f):
Normal (0.f, 0.f, 0.f, _curvature) {}
828 inline constexpr Normal (
float n_x,
float n_y,
float n_z,
float _curvature = 0.f) :
829 _Normal{{{n_x, n_y, n_z, 0.0f}}, {{_curvature}}} {}
831 friend std::ostream& operator << (std::ostream& os,
const Normal& p);
842 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const Axis& p);
848 inline constexpr Axis (
const _Axis &p) :
Axis{p.normal_x, p.normal_y, p.normal_z} {}
852 inline constexpr Axis (
float n_x,
float n_y,
float n_z) :
_Axis{{{n_x, n_y, n_z, 0.0f}}} {}
854 friend std::ostream& operator << (std::ostream& os,
const Axis& p);
874 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const PointNormal& p);
887 inline constexpr PointNormal (
float _x,
float _y,
float _z,
float n_x,
float n_y,
float n_z,
float _curvature = 0.f) :
888 _PointNormal{{{_x, _y, _z, 1.0f}}, {{n_x, n_y, n_z, 0.0f}}, {{_curvature}}} {}
890 friend std::ostream& operator << (std::ostream& os,
const PointNormal& p);
907 PCL_ADD_EIGEN_MAPS_RGB
944 PointXYZRGBNormal {p.x, p.y, p.z, p.r, p.g, p.b, p.a, p.normal_x, p.normal_y, p.normal_z, p.curvature} {}
955 inline constexpr PointXYZRGBNormal (
float _x,
float _y,
float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b):
958 inline constexpr PointXYZRGBNormal (
float _x,
float _y,
float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b,
959 float n_x,
float n_y,
float n_z,
float _curvature = 0.f) :
961 {{_x, _y, _z, 1.0f}},
962 {{n_x, n_y, n_z, 0.0f}},
963 {{ {{{_b, _g, _r, 255u}}}, _curvature }}
967 inline constexpr PointXYZRGBNormal (
float _x,
float _y,
float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b,
968 std::uint8_t _a,
float n_x,
float n_y,
float n_z,
float _curvature = 0.f) :
970 {{_x, _y, _z, 1.0f}},
971 {{n_x, n_y, n_z, 0.0f}},
972 {{ {{{_b, _g, _r, _a}}}, _curvature }}
1003 PointXYZINormal {p.x, p.y, p.z, p.intensity, p.normal_x, p.normal_y, p.normal_z, p.curvature} {}
1011 float n_x,
float n_y,
float n_z,
float _curvature = 0.f) :
1013 {{_x, _y, _z, 1.0f}},
1014 {{n_x, n_y, n_z, 0.0f}},
1015 {{_intensity, _curvature}}
1046 PointXYZLNormal {p.x, p.y, p.z, p.label, p.normal_x, p.normal_y, p.normal_z, p.curvature} {}
1050 inline constexpr PointXYZLNormal (
float _x,
float _y,
float _z, std::uint32_t _label = 0u) :
1054 float n_x,
float n_y,
float n_z,
float _curvature = 0.f) :
1056 {{_x, _y, _z, 1.0f}},
1057 {{n_x, n_y, n_z, 0.0f}},
1058 {{_label, _curvature}}
1127 inline constexpr PointWithViewpoint (
float _x,
float _y,
float _z,
float _vp_x,
float _vp_y,
float _vp_z) :
1139 float j1 = 0.f, j2 = 0.f, j3 = 0.f;
1143 inline constexpr MomentInvariants (
float _j1,
float _j2,
float _j3): j1 (_j1), j2 (_j2), j3 (_j3) {}
1154 float r_min = 0.f, r_max = 0.f;
1163 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const Boundary& p);
1169 std::uint8_t boundary_point = 0;
1171#if defined(_LIBCPP_VERSION) && _LIBCPP_VERSION <= 1101
1172 constexpr operator unsigned char()
const
1174 return boundary_point;
1178 inline constexpr Boundary (std::uint8_t _boundary = 0): boundary_point (_boundary) {}
1180 friend std::ostream& operator << (std::ostream& os,
const Boundary& p);
1191 float principal_curvature[3];
1209 principal_curvature_x (_x), principal_curvature_y (_y), principal_curvature_z (_z), pc1 (_pc1), pc2 (_pc2) {}
1220 float histogram[125] = {0.f};
1221 static constexpr int descriptorSize () {
return detail::traits::descriptorSize_v<PFHSignature125>; }
1235 float histogram[250] = {0.f};
1236 static constexpr int descriptorSize () {
return detail::traits::descriptorSize_v<PFHRGBSignature250>; }
1243 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const PPFSignature& p);
1249 float f1 = 0.f, f2 = 0.f, f3 = 0.f, f4 = 0.f;
1250 float alpha_m = 0.f;
1254 inline constexpr PPFSignature (
float _f1,
float _f2,
float _f3,
float _f4,
float _alpha = 0.f):
1255 f1 (_f1), f2 (_f2), f3 (_f3), f4 (_f4), alpha_m (_alpha) {}
1257 friend std::ostream& operator << (std::ostream& os,
const PPFSignature& p);
1260 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const CPPFSignature& p);
1266 float f1, f2, f3, f4, f5, f6, f7, f8, f9, f10;
1270 CPPFSignature (0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, _alpha) {}
1272 inline constexpr CPPFSignature (
float _f1,
float _f2,
float _f3,
float _f4,
float _f5,
float _f6,
1273 float _f7,
float _f8,
float _f9,
float _f10,
float _alpha = 0.f):
1274 f1 (_f1), f2 (_f2), f3 (_f3), f4 (_f4), f5 (_f5), f6 (_f6),
1275 f7 (_f7), f8 (_f8), f9 (_f9), f10 (_f10), alpha_m (_alpha) {}
1286 float f1 = 0.f, f2 = 0.f, f3 = 0.f, f4 = 0.f;
1287 float r_ratio = 0.f, g_ratio = 0.f, b_ratio = 0.f;
1288 float alpha_m = 0.f;
1292 inline constexpr PPFRGBSignature (
float _f1,
float _f2,
float _f3,
float _f4,
float _alpha = 0.f):
1295 inline constexpr PPFRGBSignature (
float _f1,
float _f2,
float _f3,
float _f4,
float _alpha,
float _r,
float _g,
float _b):
1296 f1 (_f1), f2 (_f2), f3 (_f3), f4 (_f4), r_ratio (_r), g_ratio (_g), b_ratio (_b), alpha_m (_alpha) {}
1308 float values[12] = {0.f};
1321 float descriptor[1980] = {0.f};
1322 float rf[9] = {0.f};
1323 static constexpr int descriptorSize () {
return detail::traits::descriptorSize_v<ShapeContext1980>; }
1336 float descriptor[1960] = {0.f};
1337 float rf[9] = {0.f};
1338 static constexpr int descriptorSize () {
return detail::traits::descriptorSize_v<UniqueShapeContext1960>; }
1345 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const SHOT352& p);
1351 float descriptor[352] = {0.f};
1352 float rf[9] = {0.f};
1353 static constexpr int descriptorSize () {
return detail::traits::descriptorSize_v<SHOT352>; }
1357 friend std::ostream& operator << (std::ostream& os,
const SHOT352& p);
1361 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const SHOT1344& p);
1367 float descriptor[1344] = {0.f};
1368 float rf[9] = {0.f};
1369 static constexpr int descriptorSize () {
return detail::traits::descriptorSize_v<SHOT1344>; }
1373 friend std::ostream& operator << (std::ostream& os,
const SHOT1344& p);
1394 inline const Eigen::Map<const Eigen::Vector3f>
getXAxisVector3fMap ()
const {
return (Eigen::Vector3f::Map (x_axis)); }
1396 inline const Eigen::Map<const Eigen::Vector3f>
getYAxisVector3fMap ()
const {
return (Eigen::Vector3f::Map (y_axis)); }
1398 inline const Eigen::Map<const Eigen::Vector3f>
getZAxisVector3fMap ()
const {
return (Eigen::Vector3f::Map (z_axis)); }
1399 inline Eigen::Map<Eigen::Matrix3f>
getMatrix3fMap () {
return (Eigen::Matrix3f::Map (rf)); }
1400 inline const Eigen::Map<const Eigen::Matrix3f>
getMatrix3fMap ()
const {
return (Eigen::Matrix3f::Map (rf)); }
1424 _ReferenceFrame{ {{_rf[0], _rf[1], _rf[2], _rf[3], _rf[4], _rf[5], _rf[6], _rf[7], _rf[8]}} } {}
1437 float histogram[33] = {0.f};
1438 static constexpr int descriptorSize () {
return detail::traits::descriptorSize_v<FPFHSignature33>; }
1451 float histogram[308] = {0.f};
1452 static constexpr int descriptorSize () {
return detail::traits::descriptorSize_v<VFHSignature308>; }
1465 float histogram[21] = {0.f};
1466 static constexpr int descriptorSize () {
return detail::traits::descriptorSize_v<GRSDSignature21>; }
1480 float orientation = 0.f;
1481 unsigned char descriptor[64] = {0};
1482 static constexpr int descriptorSize () {
return detail::traits::descriptorSize_v<BRISKSignature512>; }
1486 inline constexpr BRISKSignature512 (
float _scale,
float _orientation): scale (_scale), orientation (_orientation) {}
1497 float histogram[640] = {0.f};
1498 static constexpr int descriptorSize () {
return detail::traits::descriptorSize_v<ESFSignature640>; }
1511 float histogram[512] = {0.f};
1512 static constexpr int descriptorSize() {
return detail::traits::descriptorSize_v<GASDSignature512>; }
1525 float histogram[984] = {0.f};
1526 static constexpr int descriptorSize() {
return detail::traits::descriptorSize_v<GASDSignature984>; }
1539 float histogram[7992] = {0.f};
1540 static constexpr int descriptorSize() {
return detail::traits::descriptorSize_v<GASDSignature7992>; }
1553 float histogram[16] = {0.f};
1554 static constexpr int descriptorSize () {
return detail::traits::descriptorSize_v<GFPFHSignature16>; }
1561 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const Narf36& p);
1567 float x = 0.f, y = 0.f, z = 0.f, roll = 0.f, pitch = 0.f, yaw = 0.f;
1568 float descriptor[36] = {0.f};
1569 static constexpr int descriptorSize () {
return detail::traits::descriptorSize_v<Narf36>; }
1573 inline constexpr Narf36 (
float _x,
float _y,
float _z):
Narf36 (_x, _y, _z, 0.f, 0.f, 0.f) {}
1575 inline constexpr Narf36 (
float _x,
float _y,
float _z,
float _roll,
float _pitch,
float _yaw):
1576 x (_x), y (_y), z (_z), roll (_roll), pitch (_pitch), yaw (_yaw) {}
1578 friend std::ostream& operator << (std::ostream& os,
const Narf36& p);
1618 inline constexpr IntensityGradient (
float _x,
float _y,
float _z): gradient_x (_x), gradient_y (_y), gradient_z (_z) {}
1630 static constexpr int descriptorSize () {
return detail::traits::descriptorSize_v<Histogram<N>>; }
1661 PointWithScale{p.x, p.y, p.z, p.scale, p.angle, p.response, p.octave} {}
1666 float _angle = -1.f,
float _response = 0.f,
int _octave = 0) :
1667 _PointWithScale{{{_x, _y, _z, 1.0f}}, {_scale}, _angle, _response, _octave } {}
1688 PCL_ADD_EIGEN_MAPS_RGB
1692 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const PointSurfel& p);
1699 PointSurfel{p.x, p.y, p.z, p.normal_x, p.normal_y, p.normal_z, p.r, p.g, p.b, p.a, p.radius, p.confidence, p.curvature} {}
1702 PointSurfel{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0u, 0u, 0u, 0u, 0.0f, 0.0f, 0.0f} {}
1704 inline constexpr PointSurfel (
float _x,
float _y,
float _z,
float _nx,
1705 float _ny,
float _nz, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, std::uint8_t _a,
1706 float _radius,
float _confidence,
float _curvature) :
1708 {{_x, _y, _z, 1.0f}},
1709 {{_nx, _ny, _nz, 0.0f}},
1710 {{{{{_b, _g, _r, _a}}}, _radius, _confidence, _curvature}}
1714 friend std::ostream& operator << (std::ostream& os,
const PointSurfel& p);
1726 PCL_EXPORTS std::ostream& operator << (std::ostream& os,
const PointDEM& p);
1733 PointDEM{p.x, p.y, p.z, p.intensity, p.intensity_variance, p.height_variance} {}
1737 inline constexpr PointDEM (
float _x,
float _y,
float _z):
PointDEM (_x, _y, _z, 0.f, 0.f, 0.f) {}
1739 inline constexpr PointDEM (
float _x,
float _y,
float _z,
float _intensity,
1740 float _intensity_variance,
float _height_variance) :
1741 _PointDEM{{{_x, _y, _z, 1.0f}}, _intensity, _intensity_variance, _height_variance} {}
1743 friend std::ostream& operator << (std::ostream& os,
const PointDEM& p);
1746 template <
int N> std::ostream&
1754 [&os](
const auto& hist) { os <<
", " << hist; });
1762POINT_CLOUD_REGISTER_POINT_STRUCT (
pcl::_RGB,
1763 (std::uint32_t, rgba, rgba)
1768 (
float, intensity, intensity)
1773 (std::uint8_t, intensity, intensity)
1778 (std::uint32_t, intensity, intensity)
1793 (std::uint32_t, rgba, rgba)
1809 (std::uint32_t, rgba, rgba)
1810 (std::uint32_t, label, label)
1848 (
float, strength, strength)
1855 (
float, intensity, intensity)
1863 (std::uint32_t, label, label)
1866POINT_CLOUD_REGISTER_POINT_STRUCT (
pcl::Label,
1867 (std::uint32_t, label, label)
1871 (
float, normal_x, normal_x)
1872 (
float, normal_y, normal_y)
1873 (
float, normal_z, normal_z)
1874 (
float, curvature, curvature)
1878POINT_CLOUD_REGISTER_POINT_STRUCT (
pcl::_Axis,
1879 (
float, normal_x, normal_x)
1880 (
float, normal_y, normal_y)
1881 (
float, normal_z, normal_z)
1889 (
float, normal_x, normal_x)
1890 (
float, normal_y, normal_y)
1891 (
float, normal_z, normal_z)
1892 (
float, curvature, curvature)
1898 (
float, normal_x, normal_x)
1899 (
float, normal_y, normal_y)
1900 (
float, normal_z, normal_z)
1902 (
float, curvature, curvature)
1909 (
float, normal_x, normal_x)
1910 (
float, normal_y, normal_y)
1911 (
float, normal_z, normal_z)
1912 (
float, intensity, intensity)
1913 (
float, curvature, curvature)
1919 (
float, normal_x, normal_x)
1920 (
float, normal_y, normal_y)
1921 (
float, normal_z, normal_z)
1922 (std::uint32_t, label, label)
1923 (
float, curvature, curvature)
1929 (
float, range, range)
1949 (
float, r_min, r_min)
1950 (
float, r_max, r_max)
1954 (std::uint8_t, boundary_point, boundary_point)
1958 (
float, principal_curvature_x, principal_curvature_x)
1959 (
float, principal_curvature_y, principal_curvature_y)
1960 (
float, principal_curvature_z, principal_curvature_z)
1966 (
float[125], histogram, pfh)
1970 (
float[250], histogram, pfhrgb)
1978 (
float, alpha_m, alpha_m)
1992 (
float, alpha_m, alpha_m)
2000 (
float, r_ratio, r_ratio)
2001 (
float, g_ratio, g_ratio)
2002 (
float, b_ratio, b_ratio)
2003 (
float, alpha_m, alpha_m)
2007 (
float[12], values, values)
2011 (
float[1980], descriptor, shape_context)
2016 (
float[1960], descriptor, shape_context)
2021 (
float[352], descriptor, shot)
2026 (
float[1344], descriptor, shot)
2031 (
float[33], histogram, fpfh)
2035 (
float, scale, brisk_scale)
2036 (
float, orientation, brisk_orientation)
2037 (
unsigned char[64], descriptor, brisk_descriptor512)
2041 (
float[308], histogram, vfh)
2045 (
float[21], histogram, grsd)
2049 (
float[640], histogram, esf)
2053 (
float[512], histogram, gasd)
2057 (
float[984], histogram, gasd)
2061 (
float[7992], histogram, gasd)
2065 (
float[36], descriptor, descriptor)
2069 (
float[16], histogram, gfpfh)
2073 (
float, gradient_x, gradient_x)
2074 (
float, gradient_y, gradient_y)
2075 (
float, gradient_z, gradient_z)
2082 (
float, scale, scale)
2089 (
float, normal_x, normal_x)
2090 (
float, normal_y, normal_y)
2091 (
float, normal_z, normal_z)
2092 (std::uint32_t, rgba, rgba)
2093 (
float, radius, radius)
2094 (
float, confidence, confidence)
2095 (
float, curvature, curvature)
2099 (
float[3], x_axis, x_axis)
2100 (
float[3], y_axis, y_axis)
2101 (
float[3], z_axis, z_axis)
2109 (
float, intensity, intensity)
2110 (
float, intensity_variance, intensity_variance)
2111 (
float, height_variance, height_variance)
2120template<
typename Po
intT>
2121struct FieldMatches<
PointT, ::pcl::fields::rgba>
2125 if (field.
name ==
"rgb")
2135 return (field.
name == traits::name<PointT, fields::rgba>::value &&
2136 field.
datatype == traits::datatype<PointT, fields::rgba>::value &&
2137 field.
count == traits::datatype<PointT, fields::rgba>::size);
2141template<
typename Po
intT>
2142struct FieldMatches<
PointT, fields::rgb>
2146 if (field.
name ==
"rgba")
2154 return (field.
name == traits::name<PointT, fields::rgb>::value &&
2155 (field.
datatype == traits::datatype<PointT, fields::rgb>::value ||
2157 field.
count == traits::datatype<PointT, fields::rgb>::size);
2166 #pragma warning(disable: 4201)
2188 template <
typename Po
intT,
typename Field>
2189 struct has_field : boost::mpl::contains<typename pcl::traits::fieldList<PointT>::type, Field>::type
2193 template <
typename Po
intT,
typename Field>
2194 struct has_all_fields : boost::mpl::fold<Field,
2195 boost::mpl::bool_<true>,
2196 boost::mpl::and_<boost::mpl::_1,
2197 has_field<PointT, boost::mpl::_2> > >::type
2201 template <
typename Po
intT,
typename Field>
2202 struct has_any_field : boost::mpl::fold<Field,
2203 boost::mpl::bool_<false>,
2204 boost::mpl::or_<boost::mpl::_1,
2205 has_field<PointT, boost::mpl::_2> > >::type
2216 template <
typename Po
intT>
2217 struct has_xy : has_all_fields<PointT, boost::mpl::vector<pcl::fields::x,
2221 template <
typename Po
intT>
2222 constexpr auto has_xy_v = has_xy<PointT>::value;
2224 template <
typename Po
intT>
2225 using HasXY = std::enable_if_t<has_xy_v<PointT>,
bool>;
2227 template <
typename Po
intT>
2228 using HasNoXY = std::enable_if_t<!has_xy_v<PointT>,
bool>;
2231 template <
typename Po
intT>
2232 struct has_xyz : has_all_fields<PointT, boost::mpl::vector<pcl::fields::x,
2237 template <
typename Po
intT>
2238 constexpr auto has_xyz_v = has_xyz<PointT>::value;
2240 template <
typename Po
intT>
2241 using HasXYZ = std::enable_if_t<has_xyz_v<PointT>,
bool>;
2243 template <
typename Po
intT>
2244 using HasNoXYZ = std::enable_if_t<!has_xyz_v<PointT>,
bool>;
2248 template <
typename Po
intT>
2249 struct has_normal : has_all_fields<PointT, boost::mpl::vector<pcl::fields::normal_x,
2250 pcl::fields::normal_y,
2251 pcl::fields::normal_z> >
2254 template <
typename Po
intT>
2255 constexpr auto has_normal_v = has_normal<PointT>::value;
2257 template <
typename Po
intT>
2258 using HasNormal = std::enable_if_t<has_normal_v<PointT>,
bool>;
2260 template <
typename Po
intT>
2261 using HasNoNormal = std::enable_if_t<!has_normal_v<PointT>,
bool>;
2264 template <
typename Po
intT>
2265 struct has_curvature : has_field<PointT, pcl::fields::curvature>
2268 template <
typename Po
intT>
2269 constexpr auto has_curvature_v = has_curvature<PointT>::value;
2271 template <
typename Po
intT>
2272 using HasCurvature = std::enable_if_t<has_curvature_v<PointT>,
bool>;
2274 template <
typename Po
intT>
2275 using HasNoCurvature = std::enable_if_t<!has_curvature_v<PointT>,
bool>;
2278 template <
typename Po
intT>
2279 struct has_intensity : has_field<PointT, pcl::fields::intensity>
2282 template <
typename Po
intT>
2283 constexpr auto has_intensity_v = has_intensity<PointT>::value;
2285 template <
typename Po
intT>
2286 using HasIntensity = std::enable_if_t<has_intensity_v<PointT>,
bool>;
2288 template <
typename Po
intT>
2289 using HasNoIntensity = std::enable_if_t<!has_intensity_v<PointT>,
bool>;
2292 template <
typename Po
intT>
2293 struct has_color : has_any_field<PointT, boost::mpl::vector<pcl::fields::rgb,
2294 pcl::fields::rgba> >
2297 template <
typename Po
intT>
2298 constexpr auto has_color_v = has_color<PointT>::value;
2300 template <
typename Po
intT>
2301 using HasColor = std::enable_if_t<has_color_v<PointT>,
bool>;
2303 template <
typename Po
intT>
2304 using HasNoColor = std::enable_if_t<!has_color_v<PointT>,
bool>;
2307 template <
typename Po
intT>
2308 struct has_label : has_field<PointT, pcl::fields::label>
2311 template <
typename Po
intT>
2312 constexpr auto has_label_v = has_label<PointT>::value;
2314 template <
typename Po
intT>
2315 using HasLabel = std::enable_if_t<has_label_v<PointT>,
bool>;
2317 template <
typename Po
intT>
2318 using HasNoLabel = std::enable_if_t<!has_label_v<PointT>,
bool>;
2322 #pragma warning(default: 4201)
Defines all the PCL implemented PointT point type structures.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
std::bitset< 32 > BorderTraits
Data type to store extended information about a transition from foreground to backgroundSpecification...
Defines functions, macros and traits for allocating and using memory.
static constexpr int descriptorSize_v
Eigen::Map< Eigen::Vector2f > Vector2fMap
Eigen::Map< Eigen::Vector4f, Eigen::Aligned > Vector4fMap
const Eigen::Map< const Vector4c, Eigen::Aligned > Vector4cMapConst
const Eigen::Map< const Eigen::Vector2f > Vector2fMapConst
Eigen::Map< Vector4c, Eigen::Aligned > Vector4cMap
std::ostream & operator<<(std::ostream &os, const BivariatePolynomialT< real > &p)
const Eigen::Map< const Eigen::Vector3f > Vector3fMapConst
const Eigen::Map< const Vector3c > Vector3cMapConst
Eigen::Map< Eigen::Vector3f > Vector3fMap
Eigen::Matrix< std::uint8_t, 4, 1 > Vector4c
const Eigen::Map< const Eigen::Vector4f, Eigen::Aligned > Vector4fMapConst
const Eigen::Map< const Eigen::Array4f, Eigen::Aligned > Array4fMapConst
Eigen::Matrix< std::uint8_t, 3, 1 > Vector3c
Eigen::Map< Eigen::Array4f, Eigen::Aligned > Array4fMap
const Eigen::Map< const Eigen::Array3f > Array3fMapConst
Eigen::Map< Vector3c > Vector3cMap
Eigen::Map< Eigen::Array3f > Array3fMap
Defines all the PCL and non-PCL macros used.
#define PCL_IF_CONSTEXPR(x)
PCL_ADD_POINT4D float intensity
PCL_ADD_UNION_RGB float radius
float angle
Computed orientation of the keypoint (-1 if not applicable).
float response
The response by which the most strong keypoints have been selected.
int octave
octave (pyramid layer) from which the keypoint has been extracted.
float scale
Diameter of the meaningful keypoint neighborhood.
A point structure representing Euclidean xyz coordinates, and the intensity value.
PCL_ADD_POINT4D std::uint32_t label
PCL_ADD_POINT4D PCL_ADD_RGB std::uint32_t label
PCL_ADD_UNION_RGB float curvature
A structure representing the Local Reference Frame of a point.
Eigen::Map< Eigen::Vector3f > getZAxisVector3fMap()
Eigen::Map< Eigen::Vector3f > getXAxisVector3fMap()
Eigen::Map< Eigen::Vector3f > getYAxisVector3fMap()
const Eigen::Map< const Eigen::Vector3f > getYAxisVector3fMap() const
Eigen::Map< Eigen::Matrix3f > getMatrix3fMap()
const Eigen::Map< const Eigen::Vector3f > getZAxisVector3fMap() const
const Eigen::Map< const Eigen::Vector3f > getXAxisVector3fMap() const
const Eigen::Map< const Eigen::Matrix3f > getMatrix3fMap() const
A point structure representing an Axis using its normal coordinates.
constexpr Axis(float n_x, float n_y, float n_z)
constexpr Axis(const _Axis &p)
A point structure representing the Binary Robust Invariant Scalable Keypoints (BRISK).
constexpr BRISKSignature512()=default
static constexpr int descriptorSize()
constexpr BRISKSignature512(float _scale, float _orientation)
A structure to store if a point in a range image lies on a border between an obstacle and the backgro...
constexpr BorderDescription(int _x, int _y)
constexpr BorderDescription()=default
A point structure representing a description of whether a point is lying on a surface boundary or not...
constexpr Boundary(std::uint8_t _boundary=0)
A point structure for storing the Point Pair Feature (CPPF) values.
constexpr CPPFSignature(float _alpha=0.f)
constexpr CPPFSignature(float _f1, float _f2, float _f3, float _f4, float _f5, float _f6, float _f7, float _f8, float _f9, float _f10, float _alpha=0.f)
A point structure representing the Ensemble of Shape Functions (ESF).
static constexpr int descriptorSize()
constexpr ESFSignature640()=default
A point structure representing the Fast Point Feature Histogram (FPFH).
static constexpr int descriptorSize()
constexpr FPFHSignature33()=default
bool operator()(const PCLPointField &field)
A point structure representing the Globally Aligned Spatial Distribution (GASD) shape descriptor.
static constexpr int descriptorSize()
constexpr GASDSignature512()=default
A point structure representing the Globally Aligned Spatial Distribution (GASD) shape and color descr...
static constexpr int descriptorSize()
constexpr GASDSignature7992()=default
A point structure representing the Globally Aligned Spatial Distribution (GASD) shape and color descr...
constexpr GASDSignature984()=default
static constexpr int descriptorSize()
A point structure representing the GFPFH descriptor with 16 bins.
constexpr GFPFHSignature16()=default
static constexpr int descriptorSize()
A point structure representing the Global Radius-based Surface Descriptor (GRSD).
static constexpr int descriptorSize()
constexpr GRSDSignature21()=default
A point structure representing an N-D histogram.
static constexpr int descriptorSize()
A point structure representing the grayscale intensity in single-channel images.
constexpr Intensity32u(const _Intensity32u &p)
constexpr Intensity32u(std::uint32_t _intensity=0)
A point structure representing the grayscale intensity in single-channel images.
constexpr Intensity8u(std::uint8_t _intensity=0)
constexpr Intensity8u(const _Intensity8u &p)
A point structure representing the intensity gradient of an XYZI point cloud.
constexpr IntensityGradient(float _x, float _y, float _z)
constexpr IntensityGradient()
A point structure representing the grayscale intensity in single-channel images.
constexpr Intensity(const _Intensity &p)
constexpr Intensity(float _intensity=0.f)
A point structure representing an interest point with Euclidean xyz coordinates, and an interest valu...
constexpr Label(std::uint32_t _label=0)
A point structure representing the three moment invariants.
constexpr MomentInvariants()=default
constexpr MomentInvariants(float _j1, float _j2, float _j3)
A point structure representing the Narf descriptor.
constexpr Narf36(float _x, float _y, float _z, float _roll, float _pitch, float _yaw)
static constexpr int descriptorSize()
constexpr Narf36(float _x, float _y, float _z)
constexpr Narf36()=default
A point structure representing the Normal Based Signature for a feature matrix of 4-by-3.
constexpr NormalBasedSignature12()=default
A point structure representing normal coordinates and the surface curvature estimate.
constexpr Normal(const _Normal &p)
constexpr Normal(float _curvature=0.f)
constexpr Normal(float n_x, float n_y, float n_z, float _curvature=0.f)
A point structure representing the Point Feature Histogram with colors (PFHRGB).
constexpr PFHRGBSignature250()=default
static constexpr int descriptorSize()
A point structure representing the Point Feature Histogram (PFH).
constexpr PFHSignature125()=default
static constexpr int descriptorSize()
A point structure for storing the Point Pair Color Feature (PPFRGB) values.
constexpr PPFRGBSignature(float _f1, float _f2, float _f3, float _f4, float _alpha, float _r, float _g, float _b)
constexpr PPFRGBSignature(float _f1, float _f2, float _f3, float _f4, float _alpha=0.f)
constexpr PPFRGBSignature(float _alpha=0.f)
A point structure for storing the Point Pair Feature (PPF) values.
constexpr PPFSignature(float _f1, float _f2, float _f3, float _f4, float _alpha=0.f)
constexpr PPFSignature(float _alpha=0.f)
A point structure representing Digital Elevation Map.
constexpr PointDEM(const _PointDEM &p)
constexpr PointDEM(float _x, float _y, float _z, float _intensity, float _intensity_variance, float _height_variance)
constexpr PointDEM(float _x, float _y, float _z)
A point structure representing Euclidean xyz coordinates, together with normal coordinates and the su...
constexpr PointNormal(float _curvature=0.f)
constexpr PointNormal(float _x, float _y, float _z)
constexpr PointNormal(const _PointNormal &p)
constexpr PointNormal(float _x, float _y, float _z, float n_x, float n_y, float n_z, float _curvature=0.f)
A surfel, that is, a point structure representing Euclidean xyz coordinates, together with normal coo...
constexpr PointSurfel(const _PointSurfel &p)
constexpr PointSurfel(float _x, float _y, float _z, float _nx, float _ny, float _nz, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, std::uint8_t _a, float _radius, float _confidence, float _curvature)
A 2D point structure representing pixel image coordinates.
constexpr PointUV(float _u, float _v)
constexpr PointUV()=default
A point structure representing Euclidean xyz coordinates, padded with an extra range float.
constexpr PointWithRange(float _range=0.f)
constexpr PointWithRange(float _x, float _y, float _z, float _range=0.f)
constexpr PointWithRange(const _PointWithRange &p)
A point structure representing a 3-D position and scale.
constexpr PointWithScale()
constexpr PointWithScale(const _PointWithScale &p)
constexpr PointWithScale(float _x, float _y, float _z, float _scale=1.f, float _angle=-1.f, float _response=0.f, int _octave=0)
A point structure representing Euclidean xyz coordinates together with the viewpoint from which it wa...
constexpr PointWithViewpoint(float _x, float _y, float _z)
constexpr PointWithViewpoint(float _x, float _y, float _z, float _vp_x, float _vp_y, float _vp_z)
constexpr PointWithViewpoint(const _PointWithViewpoint &p)
constexpr PointWithViewpoint()
A 2D point structure representing Euclidean xy coordinates.
pcl::Vector2fMap getVector2fMap()
constexpr PointXY(float _x, float _y)
pcl::Vector2fMapConst getVector2fMap() const
constexpr PointXYZHSV(const _PointXYZHSV &p)
constexpr PointXYZHSV(float _h, float _s, float _v)
constexpr PointXYZHSV(float _x, float _y, float _z, float _h, float _s, float _v)
A point structure representing Euclidean xyz coordinates.
constexpr PointXYZ(float _x, float _y, float _z)
constexpr PointXYZ(const _PointXYZ &p)
constexpr PointXYZI(float _x, float _y, float _z, float _intensity=0.f)
constexpr PointXYZI(float _intensity=0.f)
constexpr PointXYZI(const _PointXYZI &p)
A point structure representing Euclidean xyz coordinates, intensity, together with normal coordinates...
constexpr PointXYZINormal(float _intensity=0.f)
constexpr PointXYZINormal(const _PointXYZINormal &p)
constexpr PointXYZINormal(float _x, float _y, float _z, float _intensity, float n_x, float n_y, float n_z, float _curvature=0.f)
constexpr PointXYZINormal(float _x, float _y, float _z, float _intensity=0.f)
A point structure representing Euclidean xyz coordinates, and the CIELAB color.
constexpr PointXYZLAB(float _x, float _y, float _z, float _L, float _a, float _b)
constexpr PointXYZLAB(const _PointXYZLAB &p)
constexpr PointXYZL(std::uint32_t _label=0)
constexpr PointXYZL(const _PointXYZL &p)
constexpr PointXYZL(float _x, float _y, float _z, std::uint32_t _label=0)
A point structure representing Euclidean xyz coordinates, a label, together with normal coordinates a...
constexpr PointXYZLNormal(const _PointXYZLNormal &p)
constexpr PointXYZLNormal(float _x, float _y, float _z, std::uint32_t _label=0u)
constexpr PointXYZLNormal(std::uint32_t _label=0u)
constexpr PointXYZLNormal(float _x, float _y, float _z, std::uint32_t _label, float n_x, float n_y, float n_z, float _curvature=0.f)
A point structure representing Euclidean xyz coordinates, and the RGBA color.
constexpr PointXYZRGBA(const _PointXYZRGBA &p)
constexpr PointXYZRGBA(float _x, float _y, float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, std::uint8_t _a)
constexpr PointXYZRGBA(float _x, float _y, float _z)
constexpr PointXYZRGBA(std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, std::uint8_t _a)
A point structure representing Euclidean xyz coordinates, and the RGB color.
constexpr PointXYZRGB(float _x, float _y, float _z)
constexpr PointXYZRGB(const _PointXYZRGB &p)
constexpr PointXYZRGB(float _x, float _y, float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b)
constexpr PointXYZRGB(std::uint8_t _r, std::uint8_t _g, std::uint8_t _b)
constexpr PointXYZRGBL(std::uint32_t _label=0)
constexpr PointXYZRGBL(float _x, float _y, float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, std::uint32_t _label=0, std::uint8_t _a=255)
constexpr PointXYZRGBL(float _x, float _y, float _z)
constexpr PointXYZRGBL(std::uint8_t _r, std::uint8_t _g, std::uint8_t _b)
constexpr PointXYZRGBL(const _PointXYZRGBL &p)
A point structure representing Euclidean xyz coordinates, and the RGB color, together with normal coo...
constexpr PointXYZRGBNormal(float _x, float _y, float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, float n_x, float n_y, float n_z, float _curvature=0.f)
constexpr PointXYZRGBNormal(float _x, float _y, float _z)
constexpr PointXYZRGBNormal(std::uint8_t _r, std::uint8_t _g, std::uint8_t _b)
constexpr PointXYZRGBNormal(float _curvature=0.f)
constexpr PointXYZRGBNormal(const _PointXYZRGBNormal &p)
constexpr PointXYZRGBNormal(float _x, float _y, float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, std::uint8_t _a, float n_x, float n_y, float n_z, float _curvature=0.f)
constexpr PointXYZRGBNormal(float _x, float _y, float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b)
A point structure representing the principal curvatures and their magnitudes.
constexpr PrincipalCurvatures(float _pc1, float _pc2)
constexpr PrincipalCurvatures()
float principal_curvature_x
constexpr PrincipalCurvatures(float _x, float _y, float _z)
float principal_curvature_z
float principal_curvature_y
constexpr PrincipalCurvatures(float _x, float _y, float _z, float _pc1, float _pc2)
A point structure representing the minimum and maximum surface radii (in meters) computed using RSD.
constexpr PrincipalRadiiRSD(float _r_min, float _r_max)
constexpr PrincipalRadiiRSD()=default
A structure representing RGB color information.
constexpr RGB(std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, std::uint8_t _a=255)
constexpr RGB(const _RGB &p)
constexpr ReferenceFrame()
constexpr ReferenceFrame(const float(&_rf)[9])
constexpr ReferenceFrame(const _ReferenceFrame &p)
A point structure representing the generic Signature of Histograms of OrienTations (SHOT) - shape+col...
static constexpr int descriptorSize()
constexpr SHOT1344()=default
A point structure representing the generic Signature of Histograms of OrienTations (SHOT) - shape onl...
constexpr SHOT352()=default
static constexpr int descriptorSize()
A point structure representing a Shape Context.
static constexpr int descriptorSize()
constexpr ShapeContext1980()=default
A point structure representing a Unique Shape Context.
static constexpr int descriptorSize()
constexpr UniqueShapeContext1960()=default
A point structure representing the Viewpoint Feature Histogram (VFH).
static constexpr int descriptorSize()
constexpr VFHSignature308()=default