PointcloudProcessor.hpp

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/*
 * PointcloudProcessor.hpp
 *
 *  Created on: Nov 21, 2019
 *      Author: Edo Jelavic
 *      Institute: ETH Zurich, Robotic Systems Lab
 */

#pragma once

#include <string>

#include "grid_map_pcl/PclLoaderParameters.hpp"
#include "grid_map_pcl/helpers.hpp"

namespace grid_map {
namespace grid_map_pcl {

class PointcloudProcessor {
 public:
  PointcloudProcessor();
  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;

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

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

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

 protected:
  // Parameters for the pcl filters.
  std::unique_ptr<grid_map_pcl::PclLoaderParameters> params_;
};

} /* namespace grid_map_pcl */

} /* namespace grid_map*/