39 #ifndef PCL_IMPL_POINT_TYPES_HPP_ 40 #define PCL_IMPL_POINT_TYPES_HPP_ 43 # pragma GCC system_header 50 #define PCL_POINT_TYPES \ 60 (pcl::InterestPoint) \ 64 (pcl::PointXYZRGBNormal) \ 65 (pcl::PointXYZINormal) \ 66 (pcl::PointWithRange) \ 67 (pcl::PointWithViewpoint) \ 68 (pcl::MomentInvariants) \ 69 (pcl::PrincipalRadiiRSD) \ 71 (pcl::PrincipalCurvatures) \ 72 (pcl::PFHSignature125) \ 73 (pcl::PFHRGBSignature250) \ 75 (pcl::CPPFSignature) \ 76 (pcl::PPFRGBSignature) \ 77 (pcl::NormalBasedSignature12) \ 78 (pcl::FPFHSignature33) \ 79 (pcl::VFHSignature308) \ 80 (pcl::ESFSignature640) \ 82 (pcl::IntensityGradient) \ 83 (pcl::PointWithScale) \ 85 (pcl::ShapeContext1980) \ 92 #define PCL_RGB_POINT_TYPES \ 96 (pcl::PointXYZRGBNormal) \ 100 #define PCL_XYZ_POINT_TYPES \ 104 (pcl::PointXYZRGBA) \ 106 (pcl::PointXYZRGBL) \ 108 (pcl::InterestPoint) \ 110 (pcl::PointXYZRGBNormal) \ 111 (pcl::PointXYZINormal) \ 112 (pcl::PointWithRange) \ 113 (pcl::PointWithViewpoint) \ 114 (pcl::PointWithScale) \ 118 #define PCL_XYZL_POINT_TYPES \ 123 #define PCL_NORMAL_POINT_TYPES \ 126 (pcl::PointXYZRGBNormal) \ 127 (pcl::PointXYZINormal) \ 131 #define PCL_FEATURE_POINT_TYPES \ 132 (pcl::PFHSignature125) \ 133 (pcl::PFHRGBSignature250) \ 134 (pcl::PPFSignature) \ 135 (pcl::CPPFSignature) \ 136 (pcl::PPFRGBSignature) \ 137 (pcl::NormalBasedSignature12) \ 138 (pcl::FPFHSignature33) \ 139 (pcl::VFHSignature308) \ 140 (pcl::ESFSignature640) \ 148 typedef Eigen::Map<Eigen::Array4f, Eigen::Aligned>
Array4fMap;
162 #define PCL_ADD_UNION_POINT4D \ 163 union EIGEN_ALIGN16 { \ 172 #define PCL_ADD_EIGEN_MAPS_POINT4D \ 173 inline pcl::Vector3fMap getVector3fMap () { return (pcl::Vector3fMap (data)); } \ 174 inline pcl::Vector3fMapConst getVector3fMap () const { return (pcl::Vector3fMapConst (data)); } \ 175 inline pcl::Vector4fMap getVector4fMap () { return (pcl::Vector4fMap (data)); } \ 176 inline pcl::Vector4fMapConst getVector4fMap () const { return (pcl::Vector4fMapConst (data)); } \ 177 inline pcl::Array3fMap getArray3fMap () { return (pcl::Array3fMap (data)); } \ 178 inline pcl::Array3fMapConst getArray3fMap () const { return (pcl::Array3fMapConst (data)); } \ 179 inline pcl::Array4fMap getArray4fMap () { return (pcl::Array4fMap (data)); } \ 180 inline pcl::Array4fMapConst getArray4fMap () const { return (pcl::Array4fMapConst (data)); } 182 #define PCL_ADD_POINT4D \ 183 PCL_ADD_UNION_POINT4D \ 184 PCL_ADD_EIGEN_MAPS_POINT4D 186 #define PCL_ADD_UNION_NORMAL4D \ 187 union EIGEN_ALIGN16 { \ 197 #define PCL_ADD_EIGEN_MAPS_NORMAL4D \ 198 inline pcl::Vector3fMap getNormalVector3fMap () { return (pcl::Vector3fMap (data_n)); } \ 199 inline pcl::Vector3fMapConst getNormalVector3fMap () const { return (pcl::Vector3fMapConst (data_n)); } \ 200 inline pcl::Vector4fMap getNormalVector4fMap () { return (pcl::Vector4fMap (data_n)); } \ 201 inline pcl::Vector4fMapConst getNormalVector4fMap () const { return (pcl::Vector4fMapConst (data_n)); } 203 #define PCL_ADD_NORMAL4D \ 204 PCL_ADD_UNION_NORMAL4D \ 205 PCL_ADD_EIGEN_MAPS_NORMAL4D 207 #define PCL_ADD_UNION_RGB \ 224 #define PCL_ADD_EIGEN_MAPS_RGB \ 225 inline Eigen::Vector3i getRGBVector3i () { return (Eigen::Vector3i (r, g, b)); } \ 226 inline const Eigen::Vector3i getRGBVector3i () const { return (Eigen::Vector3i (r, g, b)); } \ 227 inline Eigen::Vector4i getRGBVector4i () { return (Eigen::Vector4i (r, g, b, a)); } \ 228 inline const Eigen::Vector4i getRGBVector4i () const { return (Eigen::Vector4i (r, g, b, a)); } \ 229 inline Eigen::Vector4i getRGBAVector4i () { return (Eigen::Vector4i (r, g, b, a)); } \ 230 inline const Eigen::Vector4i getRGBAVector4i () const { return (Eigen::Vector4i (r, g, b, a)); } \ 231 inline pcl::Vector3cMap getBGRVector3cMap () { return (pcl::Vector3cMap (reinterpret_cast<uint8_t*> (&rgba))); } \ 232 inline pcl::Vector3cMapConst getBGRVector3cMap () const { return (pcl::Vector3cMapConst (reinterpret_cast<const uint8_t*> (&rgba))); } \ 233 inline pcl::Vector4cMap getBGRAVector4cMap () { return (pcl::Vector4cMap (reinterpret_cast<uint8_t*> (&rgba))); } \ 234 inline pcl::Vector4cMapConst getBGRAVector4cMap () const { return (pcl::Vector4cMapConst (reinterpret_cast<const uint8_t*> (&rgba))); } 236 #define PCL_ADD_RGB \ 238 PCL_ADD_EIGEN_MAPS_RGB 240 #define PCL_ADD_INTENSITY \ 246 #define PCL_ADD_INTENSITY_8U \ 252 #define PCL_ADD_INTENSITY_32U \ 255 uint32_t intensity; \ 263 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
274 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
285 x = _x; y = _y; z = _z;
290 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
302 PCL_EXPORTS std::ostream&
operator << (std::ostream& os,
const RGB& p);
334 friend std::ostream&
operator << (std::ostream& os,
const RGB& p);
352 intensity = p.intensity;
378 intensity = p.intensity;
386 #if defined(_LIBCPP_VERSION) && _LIBCPP_VERSION <= 1101 387 operator unsigned char()
const 410 intensity = p.intensity;
435 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
443 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
457 intensity = _intensity;
467 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
475 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
503 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
531 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
551 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
559 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
598 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
619 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
628 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
641 inline PointXYZRGBL (uint8_t _r, uint8_t _g, uint8_t _b, uint32_t _label)
653 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
670 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
678 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
679 h = p.
h; s = p.
s; v = p.
v;
686 h = s = v = data_c[3] = 0;
692 h = _h; v = _v; s = _s;
697 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
742 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
758 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
769 normal_x = p.normal_x; normal_y = p.normal_y; normal_z = p.normal_z;
776 normal_x = normal_y = normal_z = data_n[3] = 0.0f;
780 inline Normal (
float n_x,
float n_y,
float n_z)
782 normal_x = n_x; normal_y = n_y; normal_z = n_z;
788 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
795 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
798 PCL_EXPORTS std::ostream&
operator << (std::ostream& os,
const Axis& p);
806 normal_x = p.normal_x; normal_y = p.normal_y; normal_z = p.normal_z;
812 normal_x = normal_y = normal_z = data_n[3] = 0.0f;
815 inline Axis (
float n_x,
float n_y,
float n_z)
817 normal_x = n_x; normal_y = n_y; normal_z = n_z;
822 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
838 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
849 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
850 normal_x = p.normal_x; normal_y = p.normal_y; normal_z = p.normal_z; data_n[3] = 0.0f;
858 normal_x = normal_y = normal_z = data_n[3] = 0.0f;
879 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
916 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
917 normal_x = p.normal_x; normal_y = p.normal_y; normal_z = p.normal_z; data_n[3] = 0.0f;
927 normal_x = normal_y = normal_z = data_n[3] = 0.0f;
947 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
958 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
959 normal_x = p.normal_x; normal_y = p.normal_y; normal_z = p.normal_z; data_n[3] = 0.0f;
968 normal_x = normal_y = normal_z = data_n[3] = 0.0f;
987 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
998 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
1026 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
1037 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
1042 float _vp_x = 0.0f,
float _vp_y = 0.0f,
float _vp_z = 0.0f)
1044 x = _x; y = _y; z = _z;
1046 vp_x = _vp_x; vp_y = _vp_y; vp_z = _vp_z;
1082 #if defined(_LIBCPP_VERSION) && _LIBCPP_VERSION <= 1101 1083 operator unsigned char()
const 1085 return boundary_point;
1100 float principal_curvature[3];
1120 float histogram[125];
1132 float histogram[250];
1156 float f1, f2, f3, f4, f5, f6, f7, f8,
f9, f10;
1193 float descriptor[1980];
1207 float descriptor[352];
1221 float descriptor[1344];
1246 inline const Eigen::Map<const Eigen::Vector3f>
getXAxisVector3fMap ()
const {
return (Eigen::Vector3f::Map (x_axis)); }
1248 inline const Eigen::Map<const Eigen::Vector3f>
getYAxisVector3fMap ()
const {
return (Eigen::Vector3f::Map (y_axis)); }
1250 inline const Eigen::Map<const Eigen::Vector3f>
getZAxisVector3fMap ()
const {
return (Eigen::Vector3f::Map (z_axis)); }
1251 inline Eigen::Map<Eigen::Matrix3f>
getMatrix3fMap () {
return (Eigen::Matrix3f::Map (rf)); }
1252 inline const Eigen::Map<const Eigen::Matrix3f>
getMatrix3fMap ()
const {
return (Eigen::Matrix3f::Map (rf)); }
1254 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
1262 for (
int d = 0; d < 9; ++d)
1268 for (
int d = 0; d < 3; ++d)
1269 x_axis[d] = y_axis[d] = z_axis[d] = 0;
1273 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
1283 float histogram[33];
1295 float histogram[308];
1307 float histogram[640];
1319 float histogram[16];
1331 float x, y,
z, roll, pitch, yaw;
1332 float descriptor[36];
1400 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
1411 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
1440 inline PointWithScale (
float _x,
float _y,
float _z,
float _scale,
float _angle,
float _response,
int _octave)
1447 response = _response;
1472 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
1483 x = p.x; y = p.y; z = p.z; data[3] = 1.0f;
1494 normal_x = normal_y = normal_z = data_n[3] = 0.0f;
1496 radius = confidence = curvature = 0.0f;
1502 template <
int N> std::ostream&
1503 operator << (std::ostream& os, const Histogram<N>& p)
1505 for (
int i = 0; i < N; ++i)
1506 os << (i == 0 ?
"(" :
"") << p.histogram[i] << (i < N-1 ?
", " :
")");
1512 #include <pcl/common/point_tests.h> PointXYZI(float _intensity)
A point structure representing normal coordinates and the surface curvature estimate.
const Eigen::Map< const Eigen::Array4f, Eigen::Aligned > Array4fMapConst
A point structure representing the grayscale intensity in single-channel images.
A point structure representing a Shape Context.
Eigen::Map< Eigen::Vector3f > getXAxisVector3fMap()
A point structure representing a description of whether a point is lying on a surface boundary or not...
A point structure representing Euclidean xyz coordinates, padded with an extra range float...
struct pcl::_PointXYZHSV EIGEN_ALIGN16
static int descriptorSize()
float scale
Diameter of the meaningfull keypoint neighborhood.
A point structure representing the Normal Based Signature for a feature matrix of 4-by-3...
PointWithScale(float _x, float _y, float _z, float _scale)
Eigen::Map< Eigen::Vector3f > getZAxisVector3fMap()
A structure representing the Local Reference Frame of a point.
const Eigen::Map< const Vector4c, Eigen::Aligned > Vector4cMapConst
float angle
Computed orientation of the keypoint (-1 if not applicable).
Eigen::Map< Eigen::Vector3f > Vector3fMap
PointXYZRGBNormal(const _PointXYZRGBNormal &p)
static int descriptorSize()
const Eigen::Map< const Eigen::Vector3f > getZAxisVector3fMap() const
static int descriptorSize()
PointXYZ(float _x, float _y, float _z)
PointXYZRGBA(const _PointXYZRGBA &p)
float response
The response by which the most strong keypoints have been selected.
static int descriptorSize()
PointWithScale(float _x, float _y, float _z, float _scale, float _angle, float _response, int _octave)
PointXYZRGB(uint8_t _r, uint8_t _g, uint8_t _b)
A point structure representing an Axis using its normal coordinates.
const Eigen::Map< const Eigen::Vector4f, Eigen::Aligned > Vector4fMapConst
A point structure representing Euclidean xyz coordinates, and the RGBA color.
Intensity8u(const _Intensity8u &p)
A point structure representing the grayscale intensity in single-channel images.
std::ostream & operator<<(std::ostream &os, const BivariatePolynomialT< real > &p)
A point structure representing the Fast Point Feature Histogram (FPFH).
A 2D point structure representing Euclidean xy coordinates.
Eigen::Map< Vector3c > Vector3cMap
PointXYZ(const _PointXYZ &p)
A structure representing RGB color information.
A point structure representing an N-D histogram.
A 2D point structure representing pixel image coordinates.
PointXYZRGBL(uint8_t _r, uint8_t _g, uint8_t _b, uint32_t _label)
A point structure representing the GFPFH descriptor with 16 bins.
const Eigen::Map< const Eigen::Vector3f > getXAxisVector3fMap() const
A point structure representing the Point Feature Histogram with colors (PFHRGB).
float principal_curvature_z
A point structure representing Euclidean xyz coordinates, and the intensity value.
static int descriptorSize()
float principal_curvature_x
float principal_curvature_y
PointXYZRGBL(const _PointXYZRGBL &p)
const Eigen::Map< const Eigen::Vector3f > Vector3fMapConst
A point structure representing Euclidean xyz coordinates.
A point structure representing Euclidean xyz coordinates, intensity, together with normal coordinates...
A point structure representing an interest point with Euclidean xyz coordinates, and an interest valu...
PointXYZINormal(const _PointXYZINormal &p)
A point structure representing the three moment invariants.
Eigen::Map< Eigen::Array4f, Eigen::Aligned > Array4fMap
Eigen::Map< Eigen::Vector3f > getYAxisVector3fMap()
PointXYZI(const _PointXYZI &p)
const Eigen::Map< const Eigen::Matrix3f > getMatrix3fMap() const
A point structure representing the grayscale intensity in single-channel images.
PointXYZHSV(const _PointXYZHSV &p)
Normal(float n_x, float n_y, float n_z)
A point structure representing the generic Signature of Histograms of OrienTations (SHOT) - shape onl...
static int descriptorSize()
Axis(float n_x, float n_y, float n_z)
PointSurfel(const _PointSurfel &p)
static int descriptorSize()
int octave
octave (pyramid layer) from which the keypoint has been extracted.
A structure to store if a point in a range image lies on a border between an obstacle and the backgro...
ReferenceFrame(const _ReferenceFrame &p)
A point structure representing Euclidean xyz coordinates, together with normal coordinates and the su...
Intensity32u(const _Intensity32u &p)
A point structure for storing the Point Pair Feature (CPPF) values.
Eigen::Matrix< uint8_t, 4, 1 > Vector4c
A point structure representing Euclidean xyz coordinates together with the viewpoint from which it wa...
A point structure representing the intensity gradient of an XYZI point cloud.
Eigen::Map< Eigen::Array3f > Array3fMap
const Eigen::Map< const Vector3c > Vector3cMapConst
Eigen::Map< Eigen::Vector4f, Eigen::Aligned > Vector4fMap
Eigen::Map< Vector4c, Eigen::Aligned > Vector4cMap
A point structure representing the generic Signature of Histograms of OrienTations (SHOT) - shape+col...
static int descriptorSize()
PointXYZRGB(const _PointXYZRGB &p)
A point structure representing the Viewpoint Feature Histogram (VFH).
A point structure representing a 3-D position and scale.
A point structure representing the minimum and maximum surface radii (in meters) computed using RSD...
A point structure representing the Narf descriptor.
A point structure representing Euclidean xyz coordinates, and the RGB color.
A point structure representing the principal curvatures and their magnitudes.
PointWithRange(const _PointWithRange &p)
PointWithScale(const _PointWithScale &p)
A point structure representing the Point Feature Histogram (PFH).
PointWithViewpoint(const _PointWithViewpoint &p)
A point structure representing the Ensemble of Shape Functions (ESF).
Intensity(const _Intensity &p)
static int descriptorSize()
PointXYZHSV(float _h, float _v, float _s)
Eigen::Matrix< uint8_t, 3, 1 > Vector3c
const Eigen::Map< const Eigen::Array3f > Array3fMapConst
PointXYZL(const _PointXYZL &p)
A surfel, that is, a point structure representing Euclidean xyz coordinates, together with normal coo...
PointNormal(const _PointNormal &p)
std::bitset< 32 > BorderTraits
Data type to store extended information about a transition from foreground to backgroundSpecification...
PointWithViewpoint(float _x=0.0f, float _y=0.0f, float _z=0.0f, float _vp_x=0.0f, float _vp_y=0.0f, float _vp_z=0.0f)
static int descriptorSize()
A point structure representing Euclidean xyz coordinates, and the RGB color, together with normal coo...
A point structure for storing the Point Pair Feature (PPF) values.
static int descriptorSize()
const Eigen::Map< const Eigen::Vector3f > getYAxisVector3fMap() const
Eigen::Map< Eigen::Matrix3f > getMatrix3fMap()
A point structure for storing the Point Pair Color Feature (PPFRGB) values.