cloud_geometry Namespace Reference

Namespaces
namespace	angles
namespace	areas
namespace	distances
namespace	intersections
namespace	nearest
namespace	norms
namespace	projections
namespace	statistics
namespace	transforms
Classes
struct	Leaf
	Simple leaf (3d box) structure) holding a centroid and the number of points in the leaf. More...
Functions
void	cerr_p (const std::vector< double > &p)
void	cerr_p (const geometry_msgs::Point32 &p)
	Write the point data to screen (stderr).
void	cerr_poly (const geometry_msgs::Polygon &poly)
	Write the polygon data to screen (stderr).
bool	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	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	cross (const geometry_msgs::Point32 &p1, const std::vector< double > &p2)
	Compute the cross product between two points (vectors).
geometry_msgs::Point32	cross (const std::vector< double > &p1, const geometry_msgs::Point32 &p2)
	Compute the cross product between two points (vectors).
geometry_msgs::Point32	cross (const geometry_msgs::Point32 &p1, const geometry_msgs::Point32 &p2)
	Compute the cross product between two points (vectors).
double	dot (const std::vector< double > &p1, const std::vector< double > &p2)
	Compute the dot product between two points (vectors).
double	dot (const geometry_msgs::Vector3 &p1, const geometry_msgs::Vector3 &p2)
	Compute the dot product between two points (vectors).
double	dot (const geometry_msgs::Vector3 &p1, const geometry_msgs::Point32 &p2)
	Compute the dot product between two points (vectors).
double	dot (const geometry_msgs::Point32 &p1, const geometry_msgs::Vector3 &p2)
	Compute the dot product between two points (vectors).
double	dot (const geometry_msgs::Point &p1, const geometry_msgs::Point32 &p2)
	Compute the dot product between two points (vectors).
double	dot (const geometry_msgs::Point32 &p1, const geometry_msgs::Point &p2)
	Compute the dot product between two points (vectors).
double	dot (const geometry_msgs::Point &p1, const geometry_msgs::Point &p2)
	Compute the dot product between two points (vectors).
double	dot (const geometry_msgs::Point32 &p1, const geometry_msgs::Point32 &p2)
	Compute the dot product between two points (vectors).
void	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	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	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	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	getAvailableChannels (const sensor_msgs::PointCloudConstPtr &cloud)
	Get the available dimensions as a space separated string.
std::string	getAvailableChannels (const sensor_msgs::PointCloud &cloud)
	Get the available dimensions as a space separated string.
int	getChannelIndex (sensor_msgs::PointCloudConstPtr points, std::string channel_name)
	Get the index of a specified dimension/channel in a point cloud.
int	getChannelIndex (const sensor_msgs::PointCloud &points, std::string channel_name)
	Get the index of a specified dimension/channel in a point cloud.
void	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	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	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	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	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	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	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	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	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	normalizePoint (geometry_msgs::Point32 &p)
	Normalize a point and return the result in place.
void	normalizePoint (const geometry_msgs::Point32 &p, geometry_msgs::Point32 &q)
	Normalize a point.

---

Detailed Description

Author:

Radu Bogdan Rusu

---

Function Documentation

void cloud_geometry::cerr_p

(

const std::vector< double > &

p

)

[inline]

Definition at line 411 of file point.h.

void cloud_geometry::cerr_p

(

const geometry_msgs::Point32 &

p

)

[inline]

Write the point data to screen (stderr).

Parameters:

p

the point

Definition at line 406 of file point.h.

void cloud_geometry::cerr_poly

(

const geometry_msgs::Polygon &

poly

)

[inline]

Write the polygon data to screen (stderr).

Parameters:

poly

the polygon

Definition at line 423 of file point.h.

bool cloud_geometry::checkPointEqual	(	const geometry_msgs::Point32 &	p1,
		const geometry_msgs::Point32 &	p2,
		double	eps = 1e-10
	)			[inline]

Check whether two given points are equal with some epsilon delta.

Parameters:

	p1	a pointer to the first point
	p2	a pointer to the second point
	eps	the maximum allowed difference between the points' values

Definition at line 65 of file point.h.

void cloud_geometry::cross	(	const std::vector< double > &	p1,
		const std::vector< double > &	p2,
		std::vector< double > &	p3
	)			[inline]

Compute the cross product between two points (vectors).

Parameters:

	p1	the first point/vector
	p2	the second point/vector
	the	resultant third vector p3 = p1 x p2

Definition at line 216 of file point.h.

geometry_msgs::Point32 cloud_geometry::cross	(	const geometry_msgs::Point32 &	p1,
		const std::vector< double > &	p2
	)			[inline]

Compute the cross product between two points (vectors).

Parameters:

	p1	the first point/vector
	p2	the second point/vector

Definition at line 200 of file point.h.

geometry_msgs::Point32 cloud_geometry::cross	(	const std::vector< double > &	p1,
		const geometry_msgs::Point32 &	p2
	)			[inline]

Compute the cross product between two points (vectors).

Parameters:

	p1	the first point/vector
	p2	the second point/vector

Definition at line 185 of file point.h.

geometry_msgs::Point32 cloud_geometry::cross	(	const geometry_msgs::Point32 &	p1,
		const geometry_msgs::Point32 &	p2
	)			[inline]

Compute the cross product between two points (vectors).

Parameters:

	p1	the first point/vector
	p2	the second point/vector

Definition at line 170 of file point.h.

double cloud_geometry::dot	(	const std::vector< double > &	p1,
		const std::vector< double > &	p2
	)			[inline]

Compute the dot product between two points (vectors).

Parameters:

	p1	the first point/vector
	p2	the second point/vector

Definition at line 308 of file point.h.

double cloud_geometry::dot	(	const geometry_msgs::Vector3 &	p1,
		const geometry_msgs::Vector3 &	p2
	)			[inline]

Compute the dot product between two points (vectors).

Parameters:

	p1	the first point/vector
	p2	the second point/vector

Definition at line 297 of file point.h.

double cloud_geometry::dot	(	const geometry_msgs::Vector3 &	p1,
		const geometry_msgs::Point32 &	p2
	)			[inline]

Compute the dot product between two points (vectors).

Parameters:

	p1	the first point/vector
	p2	the second point/vector

Definition at line 286 of file point.h.

double cloud_geometry::dot	(	const geometry_msgs::Point32 &	p1,
		const geometry_msgs::Vector3 &	p2
	)			[inline]

Compute the dot product between two points (vectors).

Parameters:

	p1	the first point/vector
	p2	the second point/vector

Definition at line 275 of file point.h.

double cloud_geometry::dot	(	const geometry_msgs::Point &	p1,
		const geometry_msgs::Point32 &	p2
	)			[inline]

Compute the dot product between two points (vectors).

Parameters:

	p1	the first point/vector
	p2	the second point/vector

Definition at line 264 of file point.h.

double cloud_geometry::dot	(	const geometry_msgs::Point32 &	p1,
		const geometry_msgs::Point &	p2
	)			[inline]

Compute the dot product between two points (vectors).

Parameters:

	p1	the first point/vector
	p2	the second point/vector

Definition at line 253 of file point.h.

double cloud_geometry::dot	(	const geometry_msgs::Point &	p1,
		const geometry_msgs::Point &	p2
	)			[inline]

Compute the dot product between two points (vectors).

Parameters:

	p1	the first point/vector
	p2	the second point/vector

Definition at line 242 of file point.h.

double cloud_geometry::dot	(	const geometry_msgs::Point32 &	p1,
		const geometry_msgs::Point32 &	p2
	)			[inline]

Compute the dot product between two points (vectors).

Parameters:

	p1	the first point/vector
	p2	the second point/vector

Definition at line 231 of file point.h.

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.

Note:

this method should not be used in fast loops as it always reallocs the std::vector<Leaf> internally (!)

Parameters:

	points	the point cloud message
	points_down	the resultant downsampled point cloud
	leaf_size	the voxel leaf dimensions

Definition at line 453 of file point.cpp.

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.

Parameters:

	points	the point cloud message
	indices	a set of point indices
	points_down	the resultant downsampled point cloud
	leaf_size	the voxel leaf dimensions
	leaves	a vector of already existing leaves (empty for the first call)
	d_idx	the index of the channel providing distance data (set to -1 if nonexistant)
	cut_distance	the maximum admissible distance of a point from the viewpoint (default: FLT_MAX)

Definition at line 364 of file point.cpp.

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.

Parameters:

	points	the point cloud message
	indices	a set of point indices
	points_down	the resultant downsampled point cloud
	leaf_size	the voxel leaf dimensions
	leaves	a vector of already existing leaves (empty for the first call)
	d_idx	the index of the channel providing distance data (set to -1 if nonexistant)
	cut_distance	the maximum admissible distance of a point from the viewpoint (default: FLT_MAX)

Definition at line 272 of file point.cpp.

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.

Parameters:

	points	a pointer to the point cloud message
	points_down	the resultant downsampled point cloud
	leaf_size	the voxel leaf dimensions
	leaves	a vector of already existing leaves (empty for the first call)
	d_idx	the index of the channel providing distance data (set to -1 if nonexistant)
	cut_distance	the maximum admissible distance of a point from the viewpoint (default: FLT_MAX)

Definition at line 177 of file point.cpp.

std::string cloud_geometry::getAvailableChannels

(

const sensor_msgs::PointCloudConstPtr &

cloud

)

Get the available dimensions as a space separated string.

Parameters:

cloud

a pointer to the point cloud data message

Definition at line 95 of file point.cpp.

std::string cloud_geometry::getAvailableChannels

(

const sensor_msgs::PointCloud &

cloud

)

Get the available dimensions as a space separated string.

Parameters:

cloud

the point cloud data message

Definition at line 74 of file point.cpp.

int cloud_geometry::getChannelIndex	(	sensor_msgs::PointCloudConstPtr	points,
		std::string	channel_name
	)

Get the index of a specified dimension/channel in a point cloud.

Parameters:

	points	the point cloud
	channel_name	the string defining the channel name

Definition at line 61 of file point.cpp.

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.

Parameters:

	points	the point cloud
	channel_name	the string defining the channel name

Definition at line 47 of file point.cpp.

void cloud_geometry::getCoordinateSystemOnPlane	(	const std::vector< double > &	plane_coeff,
		Eigen::Vector3d &	u,
		Eigen::Vector3d &	v
	)			[inline]

Get a u-v-n coordinate system that lies on a plane defined by its normal.

Parameters:

	plane_coeff	the plane coefficients (containing n, the plane normal)
	u	the resultant u direction
	v	the resultant v direction

Definition at line 361 of file point.h.

void cloud_geometry::getPointAsFloatArray	(	const sensor_msgs::PointCloud &	points,
		int	index,
		std::vector< float > &	array,
		std::vector< int >	channels
	)			[inline]

Create a quick copy of a point and its associated channels and return the data as a float vector.

Parameters:

	points	the point cloud data message
	index	the index of the point to return
	array	the vector containing the result
	start_channel	the first channel to start copying data from
	end_channel	the last channel to stop copying data at

Definition at line 149 of file point.h.

void cloud_geometry::getPointAsFloatArray	(	const sensor_msgs::PointCloud &	points,
		int	index,
		std::vector< float > &	array,
		int	start_channel,
		int	end_channel
	)			[inline]

Create a quick copy of a point and its associated channels and return the data as a float vector.

Parameters:

	points	the point cloud data message
	index	the index of the point to return
	array	the vector containing the result
	start_channel	the first channel to start copying data from
	end_channel	the last channel to stop copying data at

Definition at line 127 of file point.h.

void cloud_geometry::getPointAsFloatArray	(	const sensor_msgs::PointCloud &	points,
		int	index,
		std::vector< float > &	array,
		int	nr_channels
	)			[inline]

Create a quick copy of a point and its associated channels and return the data as a float vector.

Parameters:

	points	the point cloud data message
	index	the index of the point to return
	array	the vector containing the result
	nr_channels	the number of channels to copy (starting with the first channel)

Definition at line 105 of file point.h.

void cloud_geometry::getPointAsFloatArray	(	const sensor_msgs::PointCloud &	points,
		int	index,
		std::vector< float > &	array
	)			[inline]

Create a quick copy of a point and its associated channels and return the data as a float vector.

Parameters:

	points	the point cloud data message
	index	the index of the point to return
	array	the vector containing the result

Definition at line 84 of file point.h.

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.

Parameters:

	points	the input point cloud message
	indices	a set of point indices
	points	the resultant/output point cloud message

Definition at line 466 of file point.cpp.

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.

Parameters:

	points	the input point cloud message
	indices	a set of point indices
	points	the resultant/output point cloud message

Definition at line 496 of file point.cpp.

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.

Parameters:

	points	the point cloud message
	nx	the normal X channel index
	ny	the normal Y channel index
	nz	the normal Z channel index
	axis	the given axis direction
	eps_angle	the maximum allowed difference threshold between the normal and the axis (in radians)
	indices	the resultant indices

Definition at line 122 of file point.cpp.

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.

Parameters:

	points	the point cloud message
	nx	the normal X channel index
	ny	the normal Y channel index
	nz	the normal Z channel index
	axis	the given axis direction
	eps_angle	the maximum allowed difference threshold between the normal and the axis (in radians)
	indices	the resultant indices

Definition at line 150 of file point.cpp.

void cloud_geometry::normalizePoint

(

geometry_msgs::Point32 &

p

)

[inline]

Normalize a point and return the result in place.

Parameters:

p

the point/vector to normalize

Definition at line 333 of file point.h.

void cloud_geometry::normalizePoint	(	const geometry_msgs::Point32 &	p,
		geometry_msgs::Point32 &	q
	)			[inline]

Normalize a point.

Parameters:

	p	the point/vector to normalize
	q	the resulted normalized point/vector

Definition at line 319 of file point.h.