pcl点云库的使用04：PCL C++编程规范

1 命名规范

1.1 文件的命名

1. 所有文件名的单词间以下划线隔开，如unordered_map.hpp
2. 头文件的拓展名为.h
3. 模板类实现文件的拓展名为.hpp
4. 原文件的拓展名为.cpp

1.2 目录命名规范

1. 头文件放在源码目录树下的include/下
2. 模板类实现文件放在目录树的include/impl下
3. 源文件放在目录树的src/下

1.3 文件在同一目录下引用时，include指示语句用"..."；否则使用<...>

1.4 头文件的宏定义

1.5 类和结构体使用驼峰命名法

每个单词的首字母大写，如果遇见缩写，则所有缩写字母均大写

1.6 函数和成员函数的命名

涉及多个单词的，除首字母外，其余所有单词首字母大写，应使用动词明确其含义；函数参数采用下划线连接方式命名

1.7 变量命名

2 PointT类型

定义在point_types.h中

类型	变量	使用
PointXYZ	float x, y, z;	points[i].data[0] points[i].x

 

  /** \brief Members: float x, y, z
    * \ingroup common
    */
  struct PointXYZ;

  /** \brief Members: rgba
    * \ingroup common
    */
  struct RGB;

  /** \brief Members: float x, y, z, intensity
    * \ingroup common
    */
  struct PointXYZI;

  /** \brief Members: float x, y, z, uin32_t label
    * \ingroup common
    */
  struct PointXYZL;

  /** \brief Members: uint32_t label
    * \ingroup common
    */
  struct Label;

  /** \brief Members: float x, y, z; uint32_t rgba
    * \ingroup common
    */
  struct PointXYZRGBA;

  /** \brief Members: float x, y, z, rgb
    * \ingroup common
    */
  struct PointXYZRGB;

  /** \brief Members: float x, y, z, rgb, uint32_t label
    * \ingroup common
    */
  struct PointXYZRGBL;

  /** \brief Members: float x, y, z, h, s, v
    * \ingroup common
    */
  struct PointXYZHSV;

  /** \brief Members: float x, y
    * \ingroup common
    */
  struct PointXY;

  /** \brief Members: float x, y, z, strength
    * \ingroup common
    */
  struct InterestPoint;

  /** \brief Members: float normal[3], curvature
    * \ingroup common
    */
  struct Normal;

  /** \brief Members: float normal[3]
    * \ingroup common
    */
  struct Axis;

  /** \brief Members: float x, y, z; float normal[3], curvature
    * \ingroup common
    */
  struct PointNormal;

  /** \brief Members: float x, y, z, rgb, normal[3], curvature
    * \ingroup common
    */
  struct PointXYZRGBNormal;

  /** \brief Members: float x, y, z, intensity, normal[3], curvature
    * \ingroup common
    */
  struct PointXYZINormal;

  /** \brief Members: float x, y, z (union with float point[4]), range
    * \ingroup common
    */
  struct PointWithRange;

  /** \brief Members: float x, y, z, vp_x, vp_y, vp_z
    * \ingroup common
    */
  struct PointWithViewpoint;

  /** \brief Members: float j1, j2, j3
    * \ingroup common
    */
  struct MomentInvariants;

  /** \brief Members: float r_min, r_max
    * \ingroup common
    */
  struct PrincipalRadiiRSD;

  /** \brief Members: uint8_t boundary_point
    * \ingroup common
    */
  struct Boundary;

  /** \brief Members: float principal_curvature[3], pc1, pc2
    * \ingroup common
    */
  struct PrincipalCurvatures;

  /** \brief Members: std::vector<float> descriptor, rf[9]
    * \ingroup common
    * \deprecated USE SHOT352 FOR SHAPE AND SHOT1344 FOR SHAPE+COLOR INSTEAD
    */
  struct
  PCL_DEPRECATED_CLASS (SHOT, "USE SHOT352 FOR SHAPE AND SHOT1344 FOR SHAPE+COLOR INSTEAD");

  /** \brief Members: float descriptor[352], rf[9]
    * \ingroup common
    */
  struct SHOT352;

  /** \brief Members: float descriptor[1344], rf[9]
    * \ingroup common
    */
  struct SHOT1344;

  /** \brief Members: Axis x_axis, y_axis, z_axis
    * \ingroup common
    */
  struct ReferenceFrame;

  /** \brief Members: std::vector<float> descriptor, rf[9]
    * \ingroup common
    */
  struct ShapeContext;

  /** \brief Members: float pfh[125]
    * \ingroup common
    */
  struct PFHSignature125;

  /** \brief Members: float pfhrgb[250]
    * \ingroup common
    */
  struct PFHRGBSignature250;

  /** \brief Members: float f1, f2, f3, f4, alpha_m
    * \ingroup common
    */
  struct PPFSignature;

  /** \brief Members: float f1, f2, f3, f4, r_ratio, g_ratio, b_ratio, alpha_m
    * \ingroup common
    */
  struct PPFRGBSignature;

  /** \brief Members: float values[12]
    * \ingroup common
    */
  struct NormalBasedSignature12;

  /** \brief Members: float fpfh[33]
    * \ingroup common
    */
  struct FPFHSignature33;

  /** \brief Members: float vfh[308]
    * \ingroup common
    */
  struct VFHSignature308;
  /** \brief Members: float esf[640]
    * \ingroup common
    */
  struct ESFSignature640;
  /** \brief Members: float x, y, z, roll, pitch, yaw; float descriptor[36]
    * \ingroup common
    */

  struct Narf36;

  /** \brief Data type to store extended information about a transition from foreground to backgroundSpecification of the fields for BorderDescription::traits.
    * \ingroup common
    */
  typedef std::bitset<32> BorderTraits;

  /** \brief Specification of the fields for BorderDescription::traits.
    * \ingroup common
    */
  enum BorderTrait
  {
    BORDER_TRAIT__OBSTACLE_BORDER, BORDER_TRAIT__SHADOW_BORDER, BORDER_TRAIT__VEIL_POINT,
    BORDER_TRAIT__SHADOW_BORDER_TOP, BORDER_TRAIT__SHADOW_BORDER_RIGHT, BORDER_TRAIT__SHADOW_BORDER_BOTTOM,
    BORDER_TRAIT__SHADOW_BORDER_LEFT, BORDER_TRAIT__OBSTACLE_BORDER_TOP, BORDER_TRAIT__OBSTACLE_BORDER_RIGHT,
    BORDER_TRAIT__OBSTACLE_BORDER_BOTTOM, BORDER_TRAIT__OBSTACLE_BORDER_LEFT, BORDER_TRAIT__VEIL_POINT_TOP,
    BORDER_TRAIT__VEIL_POINT_RIGHT, BORDER_TRAIT__VEIL_POINT_BOTTOM, BORDER_TRAIT__VEIL_POINT_LEFT
  };

  /** \brief Members: int x, y; BorderTraits traits
    * \ingroup common
    */
  struct BorderDescription;

  /** \brief Members: float gradient[3]
    * \ingroup common
    */
  struct IntensityGradient;

  /** \brief Members: float histogram[N]
    * \ingroup common
    */
  template<int N>
  struct Histogram;

  /** \brief Members: float x, y, z, scale
    * \ingroup common
    */
  struct PointWithScale;

  /** \brief Members: float x, y, z, normal[3], rgba, radius, confidence, curvature
    * \ingroup common
    */
  struct PointSurfel;