point_cloud_utilities.cpp File Reference

#include "ensenso_camera/point_cloud_utilities.h"
#include <pcl/point_types.h>
#include <limits>
#include <string>
#include <vector>
#include <ros/ros.h>

Include dependency graph for point_cloud_utilities.cpp:

Go to the source code of this file.

Functions
pcl::PointCloud< pcl::PointXYZ >::Ptr	pointCloudFromNxLib (NxLibItem const &node, std::string const &frame, PointCloudROI const *roi)
pcl::PointCloud< pcl::PointXYZRGB >::Ptr	pointCloudTexturedFromNxLib (NxLibItem const &imageNode, NxLibItem const &pointsNode, std::string const &frame, PointCloudROI const *roi)
pcl::PointCloud< pcl::PointNormal >::Ptr	pointCloudWithNormalsFromNxLib (NxLibItem const &pointMapNode, NxLibItem const &normalNode, std::string const &frame, PointCloudROI const *roi)

Variables
double const	NXLIB_TIMESTAMP_OFFSET = 11644473600

Function Documentation

pcl::PointCloud<pcl::PointXYZ>::Ptr pointCloudFromNxLib	(	NxLibItem const &	node,
		std::string const &	frame,
		PointCloudROI const *	roi = nullptr
	)

Convert the given binary NxLib node to a PCL point cloud.

Definition at line 12 of file point_cloud_utilities.cpp.

pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloudTexturedFromNxLib	(	NxLibItem const &	imageNode,
		NxLibItem const &	pointsNode,
		std::string const &	frame,
		PointCloudROI const *	roi
	)

Definition at line 95 of file point_cloud_utilities.cpp.

pcl::PointCloud<pcl::PointNormal>::Ptr pointCloudWithNormalsFromNxLib	(	NxLibItem const &	pointMapNode,
		NxLibItem const &	normalNode,
		std::string const &	frame,
		PointCloudROI const *	roi = nullptr
	)

Create a PCL point cloud with normals from the given NxLib nodes.

Parameters

pointMapNode	The NxLib node that contains the point map.
normalNode	The NxLib node that contains the normal information.

Definition at line 49 of file point_cloud_utilities.cpp.

Variable Documentation

double const NXLIB_TIMESTAMP_OFFSET = 11644473600

Definition at line 10 of file point_cloud_utilities.cpp.