point.h File Reference

#include <sensor_msgs/PointCloud.h>
#include <geometry_msgs/Polygon.h>
#include <geometry_msgs/Point32.h>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Vector3.h>
#include <string>
#include <vector>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include "ros/time.h"
#include <Eigen/Core>
#include <cfloat>
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Classes

struct  cloud_geometry::Leaf
 Simple leaf (3d box) structure) holding a centroid and the number of points in the leaf. More...

Namespaces

namespace  cloud_geometry

Functions

void cloud_geometry::cerr_p (const std::vector< double > &p)
void cloud_geometry::cerr_p (const geometry_msgs::Point32 &p)
 Write the point data to screen (stderr).
void cloud_geometry::cerr_poly (const geometry_msgs::Polygon &poly)
 Write the polygon data to screen (stderr).
bool cloud_geometry::checkPointEqual (const geometry_msgs::Point32 &p1, const geometry_msgs::Point32 &p2, double eps=1e-10)
 Check whether two given points are equal with some epsilon delta.
void cloud_geometry::cross (const std::vector< double > &p1, const std::vector< double > &p2, std::vector< double > &p3)
 Compute the cross product between two points (vectors).
geometry_msgs::Point32 cloud_geometry::cross (const geometry_msgs::Point32 &p1, const std::vector< double > &p2)
 Compute the cross product between two points (vectors).
geometry_msgs::Point32 cloud_geometry::cross (const std::vector< double > &p1, const geometry_msgs::Point32 &p2)
 Compute the cross product between two points (vectors).
geometry_msgs::Point32 cloud_geometry::cross (const geometry_msgs::Point32 &p1, const geometry_msgs::Point32 &p2)
 Compute the cross product between two points (vectors).
double cloud_geometry::dot (const std::vector< double > &p1, const std::vector< double > &p2)
 Compute the dot product between two points (vectors).
double cloud_geometry::dot (const geometry_msgs::Vector3 &p1, const geometry_msgs::Vector3 &p2)
 Compute the dot product between two points (vectors).
double cloud_geometry::dot (const geometry_msgs::Vector3 &p1, const geometry_msgs::Point32 &p2)
 Compute the dot product between two points (vectors).
double cloud_geometry::dot (const geometry_msgs::Point32 &p1, const geometry_msgs::Vector3 &p2)
 Compute the dot product between two points (vectors).
double cloud_geometry::dot (const geometry_msgs::Point &p1, const geometry_msgs::Point32 &p2)
 Compute the dot product between two points (vectors).
double cloud_geometry::dot (const geometry_msgs::Point32 &p1, const geometry_msgs::Point &p2)
 Compute the dot product between two points (vectors).
double cloud_geometry::dot (const geometry_msgs::Point &p1, const geometry_msgs::Point &p2)
 Compute the dot product between two points (vectors).
double cloud_geometry::dot (const geometry_msgs::Point32 &p1, const geometry_msgs::Point32 &p2)
 Compute the dot product between two points (vectors).
void cloud_geometry::downsamplePointCloud (const sensor_msgs::PointCloud &points, sensor_msgs::PointCloud &points_down, geometry_msgs::Point leaf_size)
 Downsample a Point Cloud using a voxelized grid approach.
void cloud_geometry::downsamplePointCloud (sensor_msgs::PointCloudConstPtr points, sensor_msgs::PointCloud &points_down, geometry_msgs::Point leaf_size, std::vector< Leaf > &leaves, int d_idx, double cut_distance)
 Downsample a Point Cloud using a voxelized grid approach.
void cloud_geometry::downsamplePointCloud (const sensor_msgs::PointCloud &points, sensor_msgs::PointCloud &points_down, geometry_msgs::Point leaf_size, std::vector< Leaf > &leaves, int d_idx, double cut_distance)
 Downsample a Point Cloud using a voxelized grid approach.
void cloud_geometry::downsamplePointCloud (const sensor_msgs::PointCloud &points, const std::vector< int > &indices, sensor_msgs::PointCloud &points_down, geometry_msgs::Point leaf_size, std::vector< Leaf > &leaves, int d_idx, double cut_distance)
 Downsample a Point Cloud using a voxelized grid approach.
std::string cloud_geometry::getAvailableChannels (const sensor_msgs::PointCloudConstPtr &cloud)
 Get the available dimensions as a space separated string.
std::string cloud_geometry::getAvailableChannels (const sensor_msgs::PointCloud &cloud)
 Get the available dimensions as a space separated string.
int cloud_geometry::getChannelIndex (sensor_msgs::PointCloudConstPtr points, std::string channel_name)
 Get the index of a specified dimension/channel in a point cloud.
int cloud_geometry::getChannelIndex (const sensor_msgs::PointCloud &points, std::string channel_name)
 Get the index of a specified dimension/channel in a point cloud.
void cloud_geometry::getCoordinateSystemOnPlane (const std::vector< double > &plane_coeff, Eigen::Vector3d &u, Eigen::Vector3d &v)
 Get a u-v-n coordinate system that lies on a plane defined by its normal.
void cloud_geometry::getPointAsFloatArray (const sensor_msgs::PointCloud &points, int index, std::vector< float > &array, std::vector< int > channels)
 Create a quick copy of a point and its associated channels and return the data as a float vector.
void cloud_geometry::getPointAsFloatArray (const sensor_msgs::PointCloud &points, int index, std::vector< float > &array, int start_channel, int end_channel)
 Create a quick copy of a point and its associated channels and return the data as a float vector.
void cloud_geometry::getPointAsFloatArray (const sensor_msgs::PointCloud &points, int index, std::vector< float > &array, int nr_channels)
 Create a quick copy of a point and its associated channels and return the data as a float vector.
void cloud_geometry::getPointAsFloatArray (const sensor_msgs::PointCloud &points, int index, std::vector< float > &array)
 Create a quick copy of a point and its associated channels and return the data as a float vector.
void cloud_geometry::getPointCloud (const sensor_msgs::PointCloud &input, const std::vector< int > &indices, sensor_msgs::PointCloud &output)
 Create a new point cloud object by copying the data from a given input point cloud using a set of indices.
void cloud_geometry::getPointCloudOutside (const sensor_msgs::PointCloud &input, std::vector< int > indices, sensor_msgs::PointCloud &output)
 Create a new point cloud object by copying the data from a given input point cloud using a set of indices.
void cloud_geometry::getPointIndicesAxisParallelNormals (const sensor_msgs::PointCloud &points, int nx, int ny, int nz, double eps_angle, const geometry_msgs::Point32 &axis, std::vector< int > &indices)
 Get the point indices from a cloud, whose normals are close to parallel with a given axis direction.
void cloud_geometry::getPointIndicesAxisPerpendicularNormals (const sensor_msgs::PointCloud &points, int nx, int ny, int nz, double eps_angle, const geometry_msgs::Point32 &axis, std::vector< int > &indices)
 Get the point indices from a cloud, whose normals are close to perpendicular to a given axis direction.
void cloud_geometry::normalizePoint (geometry_msgs::Point32 &p)
 Normalize a point and return the result in place.
void cloud_geometry::normalizePoint (const geometry_msgs::Point32 &p, geometry_msgs::Point32 &q)
 Normalize a point.
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stereo_wall_detection
Author(s): Radu Bogdan Rusu
autogenerated on Fri Jan 11 09:37:19 2013