Class PointcloudProcessor

Class Documentation

class PointcloudProcessor

Public Functions

explicit PointcloudProcessor(const rclcpp::Logger &node_logger)
virtual ~PointcloudProcessor() = default
void loadParameters(const std::string &filename)

Load parameters for the point cloud processing.

Parameters:

full – [in] path to the config file with parameters

Pointcloud::Ptr removeOutliersFromInputCloud(Pointcloud::ConstPtr inputCloud) const

Remove outliers from the point cloud. Function is based on the StatisticalOutlierRemoval filter from pcl. The explanation on how the algorithm works can be found here: http://pointclouds.org/documentation/tutorials/statistical_outlier.php

Parameters:

Input – [in] point cloud

Returns:

Point cloud where outliers have been removed.

Pointcloud::Ptr downsampleInputCloud(Pointcloud::ConstPtr inputCloud) const

Downsample the point cloud using voxel grid method. Implementation is based on the implementation from pcl. The explanation of the algorithm can be found here: http://pointclouds.org/documentation/tutorials/voxel_grid.php

Parameters:

Input – [in] point cloud

Returns:

Downsampled point cloud

std::vector<pcl::PointIndices> extractClusterIndicesFromPointcloud(Pointcloud::ConstPtr inputCloud) const

Finds clusters in the input cloud and returns vector of sets of indices. Each set of indices corresponds to the points in the input cloud that belong to a cluster. There can be more than one cluster.

Parameters:

pointer – [in] to the pcl point cloud

Returns:

vector of sets of indices. Vector will be empty if no clusters are found.

std::vector<Pointcloud::Ptr> extractClusterCloudsFromPointcloud(Pointcloud::ConstPtr inputCloud) const

Finds clusters in the input cloud and returns vector point clouds. Each pointcloud in the vector is a cluster in the input cloud. There can be more than one cluster.

Parameters:

pointer – [in] to the pcl point cloud

Returns:

vector of point clouds. Vector will be empty if no clusters are found.

Pointcloud::Ptr makeCloudFromIndices(const std::vector<int> &indices, Pointcloud::ConstPtr inputCloud) const

Given a vector of indices and an input point cloud, the function creates a new cloud that contains points from the input point cloud indexed by the vector of indices.

Parameters:

  • vector – [in] of indices

  • pointer – [in] to the pcl point cloud

Returns:

Pointer to the point cloud with points indexed by indices.

void savePointCloudAsPcdFile(const std::string &filename, const Pointcloud &cloud) const

Saves a point cloud to a pcd file.

Parameters:

full – [in] path to the output cloud

Pointcloud::Ptr applyRigidBodyTransformation(Pointcloud::ConstPtr inputCloud) const

Applies a rigid body transformation to the input cloud. The transformation is specified in the configuration file

Parameters:

ptr – [in] to the input cloud

Returns:

resulting cloud when rigid body transformation has been applied

Protected Attributes

std::unique_ptr<grid_map_pcl::PclLoaderParameters> params_