.. _program_listing_file__tmp_ws_src_grid_map_grid_map_pcl_include_grid_map_pcl_PointcloudProcessor.hpp:

Program Listing for File PointcloudProcessor.hpp
================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_grid_map_grid_map_pcl_include_grid_map_pcl_PointcloudProcessor.hpp>` (``/tmp/ws/src/grid_map/grid_map_pcl/include/grid_map_pcl/PointcloudProcessor.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * PointcloudProcessor.hpp
    *
    *  Created on: Nov 21, 2019
    *      Author: Edo Jelavic
    *      Institute: ETH Zurich, Robotic Systems Lab
    */
   
   #ifndef GRID_MAP_PCL__POINTCLOUDPROCESSOR_HPP_
   #define GRID_MAP_PCL__POINTCLOUDPROCESSOR_HPP_
   
   #include <string>
   #include <vector>
   #include <memory>
   
   #include "grid_map_pcl/helpers.hpp"
   #include "grid_map_pcl/PclLoaderParameters.hpp"
   
   namespace grid_map
   {
   namespace grid_map_pcl
   {
   
   class PointcloudProcessor
   {
   public:
     explicit PointcloudProcessor(const rclcpp::Logger & node_logger);
     virtual ~PointcloudProcessor() = default;
   
     void loadParameters(const std::string & filename);
   
     Pointcloud::Ptr removeOutliersFromInputCloud(Pointcloud::ConstPtr inputCloud) const;
   
     Pointcloud::Ptr downsampleInputCloud(Pointcloud::ConstPtr inputCloud) const;
   
     std::vector<pcl::PointIndices> extractClusterIndicesFromPointcloud(
       Pointcloud::ConstPtr inputCloud) const;
   
     std::vector<Pointcloud::Ptr> extractClusterCloudsFromPointcloud(
       Pointcloud::ConstPtr inputCloud) const;
   
     Pointcloud::Ptr makeCloudFromIndices(
       const std::vector<int> & indices,
       Pointcloud::ConstPtr inputCloud) const;
   
     void savePointCloudAsPcdFile(const std::string & filename, const Pointcloud & cloud) const;
   
   
     Pointcloud::Ptr applyRigidBodyTransformation(Pointcloud::ConstPtr inputCloud) const;
   
   protected:
     // Parameters for the pcl filters.
     std::unique_ptr<grid_map_pcl::PclLoaderParameters> params_;
   
   private:
     // Logging interface
     rclcpp::Logger node_logger_;
   };
   
   }  // namespace grid_map_pcl
   
   }  // namespace grid_map
   #endif  // GRID_MAP_PCL__POINTCLOUDPROCESSOR_HPP_