Point cloud generator for simple shapes. More...

#include <point_generator.h>

Public Types
typedef pcl::PointCloud< PointT >	PointCloud
typedef boost::shared_ptr < const PointCloud >	PointCloudConstPtr
typedef boost::shared_ptr < PointCloud >	PointCloudPtr
Public Member Functions
void	generateBox (const float &step_size, const Eigen::Vector3f &origin, const Eigen::Vector3f &direction_1, const Eigen::Vector3f &direction_2, const float &corner_size, const float &height)
	Generates a box.
void	generateBox (const float &step_size, const Eigen::Vector3f &origin, const Eigen::Vector3f &direction_1, const Eigen::Vector3f &direction_2, const Eigen::Vector3f &direction_3, const float &corner_size)
	Generates a box.
void	generateCircle (const float &step_size, const Eigen::Vector3f &origin, const Eigen::Vector3f &rotation_axis, const Eigen::Vector3f &radius, const float &angle=2 *M_PI, const uint32_t &color=0xffffff)
	Generates points in a circle.
void	generateCirclePlane (const float &step_size, const Eigen::Vector3f &origin, const Eigen::Vector3f &rotation_axis, const float &radius)
	Generates a circle shaped plane.
void	generateCirclePlane (const float &step_size, const Eigen::Vector3f &origin, const Eigen::Vector3f &rotation_axis, const Eigen::Vector3f &radius, const float &angle=2 *M_PI)
	Generates a filled arc.
void	generateCone (const float &step_size, const Eigen::Vector3f &origin, const Eigen::Vector3f &direction, const float &radius_base, const float &radius_peak=0.0f)
	Generates a full cone.
void	generateCorner (const float &step_size, const Eigen::Vector3f &origin, const Eigen::Vector3f &direction_1, const Eigen::Vector3f &direction_2, const Eigen::Vector3f &direction_3, const float &corner_size=0.0f)
	Generates a corner.
void	generateCylinder (const float &step_size, const Eigen::Vector3f &origin, const Eigen::Vector3f &direction, const float &radius)
	Generates a full cylinder.
void	generateCylinder (const float &step_size, const Eigen::Vector3f &origin, const Eigen::Vector3f &direction, const Eigen::Vector3f &radius, const float &angle)
	Generates a cylinder.
void	generateEdge (const float &step_size, const Eigen::Vector3f &origin, const Eigen::Vector3f &direction_edge, const Eigen::Vector3f &direction_depth)
	Generates an edge shaped from two perpendicular planes.
void	generateEdge (const float &step_size, const Eigen::Vector3f &origin, const Eigen::Vector3f &direction_edge, const Eigen::Vector3f &direction_1, const Eigen::Vector3f &direction_2)
	Generates an edge shaped by two intersecting planes.
void	generateHandle (const float &step_size, const Eigen::Vector3f &origin, const Eigen::Vector3f &rotation_axis, const Eigen::Vector3f &radius_curvature, const float &radius_handle, const float &angle)
	Generates a handle (or a torus)
void	generateLine (const float &step_size, const Eigen::Vector3f &origin, const Eigen::Vector3f &direction, const uint32_t &color=0xffffff)
	Generates points in a line.
void	generatePlane (const float &step_size, const Eigen::Vector3f &origin, const Eigen::Vector3f &direction_1, const Eigen::Vector3f &direction_2)
	Generates quadrangle plane.
void	generateSphere (const float &step_size, const Eigen::Vector3f &center, const Eigen::Vector3f &rotation_axis, const float &radius, const float &angle=M_PI)
	Generates a hemisphere.
void	generateSphere (const float &step_size, const Eigen::Vector3f &center, const float &radius)
	Generates a full sphere.
	PointGenerator ()
float	random ()
void	setGaussianNoise (const float &sigma)
	Define a Gaussian noise on the shapes to be generated.
void	setOutputCloud (PointCloudPtr &cloud)
	Set the pointer to the output point cloud.
	~PointGenerator ()
Protected Member Functions
void	addSinglePoint (const Eigen::Vector3f &point, const uint32_t &color=0xffffff)
Eigen::Vector3f	getArbitraryPerpendicularNormalized (const Eigen::Vector3f &vector)
	produces a random normalized arbitrary prependicular vector
Eigen::Vector3f	randomVector ()
int	round (float f)
Protected Attributes
PointCloudPtr	cloud_
boost::normal_distribution< float >	n_dist_
boost::variate_generator < boost::mt19937 &, boost::normal_distribution < float > >	n_rng_
float	noise_
int	rgba_index_
boost::mt19937	rng_

Detailed Description

template<typename PointT>
class cob_3d_mapping_tools::PointGenerator< PointT >

Point cloud generator for simple shapes.

Provides a set of functions to add synthetic shapes to a existing point cloud. Combining some functions allows to create whole artificial scenes.

Definition at line 86 of file point_generator.h.

Member Typedef Documentation

template<typename PointT>

typedef pcl::PointCloud<PointT> cob_3d_mapping_tools::PointGenerator< PointT >::PointCloud

Definition at line 95 of file point_generator.h.

template<typename PointT>

typedef boost::shared_ptr<const PointCloud> cob_3d_mapping_tools::PointGenerator< PointT >::PointCloudConstPtr

Definition at line 97 of file point_generator.h.

template<typename PointT>

typedef boost::shared_ptr<PointCloud> cob_3d_mapping_tools::PointGenerator< PointT >::PointCloudPtr

Definition at line 96 of file point_generator.h.

Constructor & Destructor Documentation

template<typename PointT >

PointGenerator::PointGenerator ( )

Empty constructor

Definition at line 73 of file point_generator.cpp.

template<typename PointT >

PointGenerator::~PointGenerator ( )

Empty destructor

Definition at line 80 of file point_generator.cpp.

Member Function Documentation

template<typename PointT >

void PointGenerator::addSinglePoint	(	const Eigen::Vector3f &	point,
		const uint32_t &	color = `0xffffff`
	)		`[protected]`

Definition at line 565 of file point_generator.cpp.

template<typename PointT >

void PointGenerator::generateBox	(	const float &	step_size,
		const Eigen::Vector3f &	origin,
		const Eigen::Vector3f &	direction_1,
		const Eigen::Vector3f &	direction_2,
		const float &	corner_size,
		const float &	height
	)

Generates a box.

Parameters:

[in]	step_size	the distance between each generated point
[in]	origin	the starting edge of the box
[in]	direction_1	the first direction vector
[in]	direction_2	the second direction vector
[in]	corner_size	the size how big the corners should be labeled
[in]	height	sets the size of the third direction, defined by the cross product of the first two vectors

Definition at line 299 of file point_generator.cpp.

template<typename PointT >

void PointGenerator::generateBox	(	const float &	step_size,
		const Eigen::Vector3f &	origin,
		const Eigen::Vector3f &	direction_1,
		const Eigen::Vector3f &	direction_2,
		const Eigen::Vector3f &	direction_3,
		const float &	corner_size
	)

Generates a box.

Parameters:

[in]	step_size	the distance between each generated point
[in]	origin	the starting edge of the box
[in]	direction_1	the first direction vector
[in]	direction_2	the second direction vector
[in]	direction_3	the third direction vector
[in]	corner_size	the size how big the corners should be labeled

Definition at line 311 of file point_generator.cpp.

template<typename PointT >

void PointGenerator::generateCircle	(	const float &	step_size,
		const Eigen::Vector3f &	origin,
		const Eigen::Vector3f &	rotation_axis,
		const Eigen::Vector3f &	radius,
		const float &	angle = `2 * M_PI`,
		const uint32_t &	color = `0xffffff`
	)

Generates points in a circle.

Parameters:

[in]	step_size	the distance between each generated point
[in]	origin	the center of the circle
[in]	rotation_axis	a vector defining the axis the circle is rotating around
[in]	radius	a vector perpendicular to rotation_axis. Its length defines the size of the circle.
[in]	angle	define a angle (in rad) to generate an arc starting at the radius vector.
[in]	color	the color assigned to the generated points (default: white)

Definition at line 120 of file point_generator.cpp.

template<typename PointT >

void PointGenerator::generateCirclePlane	(	const float &	step_size,
		const Eigen::Vector3f &	origin,
		const Eigen::Vector3f &	rotation_axis,
		const float &	radius
	)

Generates a circle shaped plane.

Parameters:

[in]	step_size	the distance between each generated point
[in]	origin	the chenter of the circle plane
[in]	rotation_axis	a vector defining the axis the cicle is rotating around
[in]	radius	defining the size of the circle in meters

Definition at line 186 of file point_generator.cpp.

template<typename PointT >

void PointGenerator::generateCirclePlane	(	const float &	step_size,
		const Eigen::Vector3f &	origin,
		const Eigen::Vector3f &	rotation_axis,
		const Eigen::Vector3f &	radius,
		const float &	angle = `2 * M_PI`
	)

Generates a filled arc.

Parameters:

[in]	step_size	the distance between each generated point
[in]	origin	the center of the arc
[in]	rotation_axis	a vector defining the axis the circle is rotating around
[in]	radius	a vector perpendicular to rotation_axis. Its length defines the size of the circle.
[in]	angle	define a angle (in rad) to generate an arc starting at the radius vector.

Definition at line 196 of file point_generator.cpp.

template<typename PointT >

void PointGenerator::generateCone	(	const float &	step_size,
		const Eigen::Vector3f &	origin,
		const Eigen::Vector3f &	direction,
		const float &	radius_base,
		const float &	radius_peak = `0.0f`
	)

Generates a full cone.

Parameters:

[in]	step_size	the distance between each generated point
[in]	origin	the center of bottom
[in]	radius_base	radius at the bottom
[in]	radius_peak	radius at the top

Definition at line 476 of file point_generator.cpp.

template<typename PointT >

void PointGenerator::generateCorner	(	const float &	step_size,
		const Eigen::Vector3f &	origin,
		const Eigen::Vector3f &	direction_1,
		const Eigen::Vector3f &	direction_2,
		const Eigen::Vector3f &	direction_3,
		const float &	corner_size = `0.0f`
	)

Generates a corner.

Parameters:

[in]	step_size	the distance between each generated point
[in]	origin	the starting point of the corner
[in]	direction_1	the first direction vector relative to the origin
[in]	direction_2	the second direction vector relative to the origin
[in]	direction_3	the third direction vector relative to the origin
[in]	corner_size	if not set, the length of direction_1 is used as the size

Definition at line 264 of file point_generator.cpp.

template<typename PointT >

void PointGenerator::generateCylinder	(	const float &	step_size,
		const Eigen::Vector3f &	origin,
		const Eigen::Vector3f &	direction,
		const float &	radius
	)

Generates a full cylinder.

Parameters:

[in]	step_size	the distance between each generated point
[in]	origin	the center of bottom
[in]	direction	the rotation axis of the cylinder, the length determines its height
[in]	radius	the radius of the cylinder

Definition at line 442 of file point_generator.cpp.

template<typename PointT >

void PointGenerator::generateCylinder	(	const float &	step_size,
		const Eigen::Vector3f &	origin,
		const Eigen::Vector3f &	direction,
		const Eigen::Vector3f &	radius,
		const float &	angle
	)

Generates a cylinder.

Parameters:

[in]	step_size	the distance between each generated point
[in]	origin	the center of bottom
[in]	direction	the rotation axis of the cylinder, the length determines its height
[in]	radius	the radius of the cylinder
[in]	angle	the angle starting from the radius vector

Definition at line 452 of file point_generator.cpp.

template<typename PointT >

void PointGenerator::generateEdge	(	const float &	step_size,
		const Eigen::Vector3f &	origin,
		const Eigen::Vector3f &	direction_edge,
		const Eigen::Vector3f &	direction_depth
	)

Generates an edge shaped from two perpendicular planes.

Parameters:

[in]	step_size	the distance between each generated point
[in]	origin	the starting point of the edge
[in]	direction_edge	the direction vector pointing to the end point of the edge
[in]	direction_depth	the vector defining the direction and length of the first of the planes. The other plane's direction is determined from the cross product of both.

Definition at line 231 of file point_generator.cpp.

template<typename PointT >

void PointGenerator::generateEdge	(	const float &	step_size,
		const Eigen::Vector3f &	origin,
		const Eigen::Vector3f &	direction_edge,
		const Eigen::Vector3f &	direction_1,
		const Eigen::Vector3f &	direction_2
	)

Generates an edge shaped by two intersecting planes.

Parameters:

[in]	step_size	the distance between each generated point
[in]	origin	the starting point of the edge
[in]	direction_edge	the direction vector pointing to the end point of the edge
[in]	direction_1	...
[in]	direction_2	...

Definition at line 243 of file point_generator.cpp.

template<typename PointT >

void PointGenerator::generateHandle	(	const float &	step_size,
		const Eigen::Vector3f &	origin,
		const Eigen::Vector3f &	rotation_axis,
		const Eigen::Vector3f &	radius_curvature,
		const float &	radius_handle,
		const float &	angle
	)

Generates a handle (or a torus)

Parameters:

[in]	step_size	the distance between each generated point
[in]	origin	the center of the torus
[in]	rotation_axis	the rotation axis of the torus
[in]	radius_curvature	the size of the torus
[in]	radius_handle	the thickness of the torus
[in]	angle	the rotation angle (in rad) starting at radius_curvature vector

Definition at line 541 of file point_generator.cpp.

template<typename PointT >

void PointGenerator::generateLine	(	const float &	step_size,
		const Eigen::Vector3f &	origin,
		const Eigen::Vector3f &	direction,
		const uint32_t &	color = `0xffffff`
	)

Generates points in a line.

Parameters:

[in]	step_size	the distance between each generated point
[in]	origin	the starting point of the line
[in]	direction	the direction relative from the origin pointing to the end of the line
[in]	color	the color assigned to the generated points (default: white)

Definition at line 84 of file point_generator.cpp.

template<typename PointT >

void PointGenerator::generatePlane	(	const float &	step_size,
		const Eigen::Vector3f &	origin,
		const Eigen::Vector3f &	direction_1,
		const Eigen::Vector3f &	direction_2
	)

Generates quadrangle plane.

Parameters:

[in]	step_size	the distance between each generated point
[in]	origin	the starting edge of the plane
[in]	direction_1	the first direction vector relative to the origin
[in]	direction_2	the second direction vector relative to the origin

Definition at line 213 of file point_generator.cpp.

template<typename PointT >

void PointGenerator::generateSphere	(	const float &	step_size,
		const Eigen::Vector3f &	center,
		const Eigen::Vector3f &	rotation_axis,
		const float &	radius,
		const float &	angle = `M_PI`
	)

Generates a hemisphere.

Parameters:

[in]	step_size	the distance between each generated point
[in]	center	of the sphere
[in]	rotation_axis	the rotation axis vector
[in]	radius	the size of the hemisphere
[in]	angle	the height of the hemisphere

Definition at line 504 of file point_generator.cpp.

template<typename PointT >

void PointGenerator::generateSphere	(	const float &	step_size,
		const Eigen::Vector3f &	center,
		const float &	radius
	)

Generates a full sphere.

Parameters:

[in]	step_size	the distance between each generated point
[in]	center	the center of the sphere
[in]	radius	the radius of the sphere in meters

Definition at line 533 of file point_generator.cpp.

template<typename PointT>

Eigen::Vector3f cob_3d_mapping_tools::PointGenerator< PointT >::getArbitraryPerpendicularNormalized ( const Eigen::Vector3f & vector ) [inline, protected]

produces a random normalized arbitrary prependicular vector

Parameters:

[in] vector input vector

Returns:: a random vector perpendicular to vector

Definition at line 359 of file point_generator.h.

template<typename PointT>

float cob_3d_mapping_tools::PointGenerator< PointT >::random ( ) [inline]

Definition at line 337 of file point_generator.h.

template<typename PointT>

Eigen::Vector3f cob_3d_mapping_tools::PointGenerator< PointT >::randomVector ( ) [inline, protected]

Definition at line 349 of file point_generator.h.

template<typename PointT>

int cob_3d_mapping_tools::PointGenerator< PointT >::round ( float f ) [inline, protected]

Definition at line 344 of file point_generator.h.

template<typename PointT>

void cob_3d_mapping_tools::PointGenerator< PointT >::setGaussianNoise ( const float & sigma ) [inline]

Define a Gaussian noise on the shapes to be generated.

Parameters:

[in] sigma strength of noise in meters

Definition at line 119 of file point_generator.h.

template<typename PointT>

void cob_3d_mapping_tools::PointGenerator< PointT >::setOutputCloud ( PointCloudPtr & cloud ) [inline]

Set the pointer to the output point cloud.

Parameters:

[out] cloud pointer to the output point cloud

Definition at line 103 of file point_generator.h.

Member Data Documentation

template<typename PointT>

PointCloudPtr cob_3d_mapping_tools::PointGenerator< PointT >::cloud_ [protected]

Definition at line 369 of file point_generator.h.

template<typename PointT>

boost::normal_distribution<float> cob_3d_mapping_tools::PointGenerator< PointT >::n_dist_ [protected]

Definition at line 377 of file point_generator.h.

template<typename PointT>

boost::variate_generator<boost::mt19937&, boost::normal_distribution<float> > cob_3d_mapping_tools::PointGenerator< PointT >::n_rng_ [protected]

Definition at line 379 of file point_generator.h.

template<typename PointT>

float cob_3d_mapping_tools::PointGenerator< PointT >::noise_ [protected]

Definition at line 372 of file point_generator.h.

template<typename PointT>

int cob_3d_mapping_tools::PointGenerator< PointT >::rgba_index_ [protected]

Definition at line 371 of file point_generator.h.

template<typename PointT>

boost::mt19937 cob_3d_mapping_tools::PointGenerator< PointT >::rng_ [protected]

Definition at line 375 of file point_generator.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointT> class cob_3d_mapping_tools::PointGenerator< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT>
class cob_3d_mapping_tools::PointGenerator< PointT >