Point Cloud Library (PCL)  1.7.1
point_types.h
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37 
38 #ifndef PCL_RECOGNITION_POINT_TYPES
39 #define PCL_RECOGNITION_POINT_TYPES
40 
41 #include <pcl/pcl_base.h>
42 #include <pcl/point_cloud.h>
43 #include <pcl/point_types.h>
44 
45 
46 namespace pcl
47 {
48 
49  /** \brief A point structure for representing RGB color
50  * \ingroup common
51  */
52  //struct EIGEN_ALIGN16 PointRGB
53  //{
54  // union
55  // {
56  // union
57  // {
58  // struct
59  // {
60  // uint8_t b;
61  // uint8_t g;
62  // uint8_t r;
63  // uint8_t _unused;
64  // };
65  // float rgb;
66  // };
67  // uint32_t rgba;
68  // };
69 
70  // inline PointRGB ()
71  // {}
72 
73  // inline PointRGB (const uint8_t b, const uint8_t g, const uint8_t r)
74  // : b (b), g (g), r (r), _unused (0)
75  // {}
76 
77  // EIGEN_MAKE_ALIGNED_OPERATOR_NEW
78  //};
79 
80 
81  /** \brief A point structure representing Euclidean xyz coordinates, and the intensity value.
82  * \ingroup common
83  */
84  struct EIGEN_ALIGN16 GradientXY
85  {
86  union
87  {
88  struct
89  {
90  float x;
91  float y;
92  float angle;
93  float magnitude;
94  };
95  float data[4];
96  };
97  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
98 
99  inline bool operator< (const GradientXY & rhs)
100  {
101  return (magnitude > rhs.magnitude);
102  }
103  };
104  inline std::ostream & operator << (std::ostream & os, const GradientXY & p)
105  {
106  os << "(" << p.x << "," << p.y << " - " << p.magnitude << ")";
107  return (os);
108  }
109 
110 }
111 
112 #endif