#include <Utils.h>

Static Public Member Functions
static bool	areSameVectors (const Eigen::VectorXd v1, const Eigen::VectorXd v2, double threshold)
	Check if given vectors are equal with a given tolerance (threshold). More...

static void	cloudToROSMsg (PointCloudRGB::Ptr cloud, sensor_msgs::PointCloud2 &cloud_msg, const std::string &frameid="world")
	Convert XYZRGB cloud to PointCloud2. More...

static void	cloudToROSMsg (const pcl::PCLPointCloud2 &cloud, sensor_msgs::PointCloud2 &cloud_msg, const std::string &frameid="world")
	Convert XYZRGB cloud to PointCloud2. More...

static void	cloudToXYZRGB (PointCloudXYZ::Ptr cloud, PointCloudRGB::Ptr cloud_rgb, int R, int G, int B)
	Convert XYZ cloud to XYZRGB cloud with specified RGB values. More...

static void	colorizeCloud (PointCloudRGB::Ptr cloud_rgb, int R, int G, int B)
	Apply RGB values to cloud. More...

static double	computeCloudResolution (PointCloudXYZ::Ptr cloud)
	Obtain the resolution of the cloud. More...

static double	computeCloudResolution (PointCloudRGB::Ptr cloud)
	Obtain the resolution of the cloud. More...

static void	extractColFromMatrix (Eigen::MatrixXd &matrix, int col)
	Supress col from matrix. More...

static void	extractRowFromMatrix (Eigen::MatrixXd &matrix, int row)
	Supress row from matrix. More...

static int	findOnMatrix (const Eigen::VectorXd v, const Eigen::MatrixXd m, double threshold)
	Find vector as row on matrix with given threshold. Returns index of matrix row. If not found returns -1. More...

static int	findOnVector (double value, const Eigen::VectorXd v, double threshold)
	Find value on vector with given threshold. Returns index vector of value found. If not found returns -1. More...

static bool	getNormals (PointCloudRGB::Ptr &cloud, double normal_radius, PointCloudNormal::Ptr &normals)
	Get the normals for input cloud with specified normal's radius. More...

static void	getVectorFromNormal (PointCloudNormal::Ptr normal, double idx, Eigen::Vector3f &vector)
	Obtain normal values as a vector. More...

static bool	isValidCloud (PointCloudXYZ::Ptr cloud)
	Check whether cloud contains data and is not empty. More...

static bool	isValidCloud (PointCloudRGB::Ptr cloud)
	Check whether cloud contains data and is not empty. More...

static bool	isValidCloud (PointCloudNormal::Ptr normals)
	Check whether cloud normals contains data and is not empty. More...

static bool	isValidCloudMsg (const sensor_msgs::PointCloud2 &cloud_msg)
	Check whether PointCloud2 contains data and is not empty. More...

static bool	isValidMesh (pcl::PolygonMesh::Ptr mesh)
	Check whether mesh contains data and is not empty. More...

static bool	isValidTransform (Eigen::Matrix4f transform)
	Check whether transform contains valid data and is not NaN. More...

static void	onePointCloud (PointCloudRGB::Ptr cloud, int size, PointCloudRGB::Ptr one_point_cloud)
	Apply extract indices filter to input cloud with given indices. More...

static void	printMatrix (const Eigen::Ref< const Eigen::MatrixXf > &matrix, const int size)
	Print on console matrix values with matrix format. More...

static void	printTransform (const Eigen::Matrix4f &transform)
	Print on console transform values with matrix format. More...

static void	rotateCloud (PointCloudRGB::Ptr cloud_in, PointCloudRGB::Ptr cloud_out, double roll, double pitch, double yaw)
	Apply rotation to cloud. Values given in [rad]. More...

static bool	searchForSameRows (Eigen::MatrixXd source_m, Eigen::MatrixXd target_m, std::vector< int > &source_indx, std::vector< int > &target_indx)
	Check if both matrix have a coinciden row. More...

static void	setPCpath (const std::string &pointcloud_folder_path)
	Set the pointcloud folder path object. More...

static void	translateCloud (PointCloudRGB::Ptr cloud_in, PointCloudRGB::Ptr cloud_out, double x_offset=0, double y_offset=0, double z_offset=0)
	Apply translation to Cloud. Values given in [m]. More...

Private Types
typedef pcl::PointCloud< pcl::Normal >	PointCloudNormal

typedef pcl::PointCloud< pcl::PointXYZRGB >	PointCloudRGB

typedef pcl::PointCloud< pcl::PointXYZ >	PointCloudXYZ

Private Member Functions
	Utils ()
	This class is not meant to be instantiated. More...

	~Utils ()
	This class is not meant to be instantiated. More...

Detailed Description

Definition at line 32 of file Utils.h.

Member Typedef Documentation

typedef pcl::PointCloud<pcl::Normal> Utils::PointCloudNormal

private

Definition at line 36 of file Utils.h.

typedef pcl::PointCloud<pcl::PointXYZRGB> Utils::PointCloudRGB

private

Definition at line 35 of file Utils.h.

typedef pcl::PointCloud<pcl::PointXYZ> Utils::PointCloudXYZ

private

Definition at line 34 of file Utils.h.

Constructor & Destructor Documentation

Utils::Utils ( )

inlineprivate

This class is not meant to be instantiated.

Definition at line 43 of file Utils.h.

Utils::~Utils ( )

inlineprivate

This class is not meant to be instantiated.

Definition at line 49 of file Utils.h.

Member Function Documentation

bool Utils::areSameVectors	(	const Eigen::VectorXd	v1,
		const Eigen::VectorXd	v2,
		double	threshold
	)

static

Check if given vectors are equal with a given tolerance (threshold).

Parameters

v1
v2
threshold

Returns: true; false

Definition at line 273 of file Utils.cpp.

void Utils::cloudToROSMsg	(	PointCloudRGB::Ptr	cloud,
		sensor_msgs::PointCloud2 &	cloud_msg,
		const std::string &	frameid = `"world"`
	)

static

Convert XYZRGB cloud to PointCloud2.

Parameters

[in]	cloud
[out]	cloud_msg

Definition at line 100 of file Utils.cpp.

void Utils::cloudToROSMsg	(	const pcl::PCLPointCloud2 &	cloud,
		sensor_msgs::PointCloud2 &	cloud_msg,
		const std::string &	frameid = `"world"`
	)

static

Convert XYZRGB cloud to PointCloud2.

Parameters

[in]	cloud
[out]	cloud_msg

Definition at line 107 of file Utils.cpp.

void Utils::cloudToXYZRGB	(	PointCloudXYZ::Ptr	cloud,
		PointCloudRGB::Ptr	cloud_rgb,
		int	R,
		int	G,
		int	B
	)

static

Convert XYZ cloud to XYZRGB cloud with specified RGB values.

Parameters

[in]	cloud
	R	0~255
	G	0~255
	B	0~255
[out]	cloud_rgb

Definition at line 94 of file Utils.cpp.

void Utils::colorizeCloud	(	PointCloudRGB::Ptr	cloud_rgb,
		int	R,
		int	G,
		int	B
	)

static

Apply RGB values to cloud.

Parameters

Definition at line 84 of file Utils.cpp.

double Utils::computeCloudResolution ( PointCloudXYZ::Ptr cloud )

static

Obtain the resolution of the cloud.

Parameters

cloud

Returns: double

Definition at line 114 of file Utils.cpp.

double Utils::computeCloudResolution ( PointCloudRGB::Ptr cloud )

static

Obtain the resolution of the cloud.

Parameters

cloud

Returns: double

Definition at line 145 of file Utils.cpp.

void Utils::extractColFromMatrix	(	Eigen::MatrixXd &	matrix,
		int	col
	)

static

Supress col from matrix.

Parameters

matrix
col

Definition at line 304 of file Utils.cpp.

void Utils::extractRowFromMatrix	(	Eigen::MatrixXd &	matrix,
		int	row
	)

static

Supress row from matrix.

Parameters

matrix
row

Definition at line 315 of file Utils.cpp.

int Utils::findOnMatrix	(	const Eigen::VectorXd	v,
		const Eigen::MatrixXd	m,
		double	threshold
	)

static

Find vector as row on matrix with given threshold. Returns index of matrix row. If not found returns -1.

Parameters

v
m
threshold

Returns: int

Definition at line 294 of file Utils.cpp.

int Utils::findOnVector	(	double	value,
		const Eigen::VectorXd	v,
		double	threshold
	)

static

Find value on vector with given threshold. Returns index vector of value found. If not found returns -1.

Parameters

value
v
threshold

Returns: int

Definition at line 284 of file Utils.cpp.

bool Utils::getNormals	(	PointCloudRGB::Ptr &	cloud,
		double	normal_radius,
		PointCloudNormal::Ptr &	normals
	)

static

Get the normals for input cloud with specified normal's radius.

Parameters

[in]	cloud
[in]	normal_radius
[out]	normals

Returns: true; false

Definition at line 27 of file Utils.cpp.

void Utils::getVectorFromNormal	(	PointCloudNormal::Ptr	normal,
		double	idx,
		Eigen::Vector3f &	vector
	)

static

Obtain normal values as a vector.

Parameters

normal
idx
vector

Definition at line 234 of file Utils.cpp.

bool Utils::isValidCloud ( PointCloudXYZ::Ptr cloud )

static

Check whether cloud contains data and is not empty.

Parameters

cloud

Returns: true; false

Definition at line 46 of file Utils.cpp.

bool Utils::isValidCloud ( PointCloudRGB::Ptr cloud )

static

Check whether cloud contains data and is not empty.

Parameters

cloud

Returns: true; false

Definition at line 51 of file Utils.cpp.

bool Utils::isValidCloud ( PointCloudNormal::Ptr normals )

static

Check whether cloud normals contains data and is not empty.

Parameters

normals

Returns: true; false

Definition at line 56 of file Utils.cpp.

bool Utils::isValidCloudMsg ( const sensor_msgs::PointCloud2 & cloud_msg )

static

Check whether PointCloud2 contains data and is not empty.

Parameters

cloud_msg

Returns: true; false

Definition at line 66 of file Utils.cpp.

bool Utils::isValidMesh ( pcl::PolygonMesh::Ptr mesh )

static

Check whether mesh contains data and is not empty.

Parameters

mesh

Returns: true; false

Definition at line 61 of file Utils.cpp.

bool Utils::isValidTransform ( Eigen::Matrix4f transform )

static

Check whether transform contains valid data and is not NaN.

Parameters

transform

Returns: true; false

Definition at line 71 of file Utils.cpp.

void Utils::onePointCloud	(	PointCloudRGB::Ptr	cloud,
		int	size,
		PointCloudRGB::Ptr	one_point_cloud
	)

static

Apply extract indices filter to input cloud with given indices.

Parameters

[in]	cloud_in
[in]	indices
[out]	cloud_out

Definition at line 188 of file Utils.cpp.

void Utils::printMatrix	(	const Eigen::Ref< const Eigen::MatrixXf > &	matrix,
		const int	size
	)

static

Print on console matrix values with matrix format.

Parameters

matrix
size

Definition at line 182 of file Utils.cpp.

void Utils::printTransform ( const Eigen::Matrix4f & transform )

static

Print on console transform values with matrix format.

Parameters

transform

Definition at line 176 of file Utils.cpp.

void Utils::rotateCloud	(	PointCloudRGB::Ptr	cloud_in,
		PointCloudRGB::Ptr	cloud_out,
		double	roll,
		double	pitch,
		double	yaw
	)

static

Apply rotation to cloud. Values given in [rad].

Parameters

cloud_in
cloud_out
roll
pitch
yaw

Definition at line 215 of file Utils.cpp.

bool Utils::searchForSameRows	(	Eigen::MatrixXd	source_m,
		Eigen::MatrixXd	target_m,
		std::vector< int > &	source_indx,
		std::vector< int > &	target_indx
	)

static

Check if both matrix have a coinciden row.

Parameters

source_m
target_m
source_indx
target_indx

Returns: true; false

Definition at line 245 of file Utils.cpp.

static void Utils::setPCpath ( const std::string & pointcloud_folder_path )

static

Set the pointcloud folder path object.

Parameters

pointcloud_folder_path

void Utils::translateCloud	(	PointCloudRGB::Ptr	cloud_in,
		PointCloudRGB::Ptr	cloud_out,
		double	x_offset = `0`,
		double	y_offset = `0`,
		double	z_offset = `0`
	)

static

Apply translation to Cloud. Values given in [m].

Parameters

cloud_in
cloud_out
x_offset
y_offset
z_offset

Definition at line 203 of file Utils.cpp.

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

Static Public Member Functions

Private Types

Private Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation