PointCloudMetrics.h File Reference

Various point cloud metric calculations and utilities. More...

#include <geometry_msgs/Point.h>
#include <graspdb/Grasp.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf2/LinearMath/Transform.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <vector>

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Namespaces
namespace	rail
namespace	rail::pick_and_place
namespace	rail::pick_and_place::point_cloud_metrics
Functions
void	rail::pick_and_place::point_cloud_metrics::calculateAvgColors (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &pc, double &avg_r, double &avg_g, double &avg_b)
	Average color value calculator.
double	rail::pick_and_place::point_cloud_metrics::calculateRegistrationMetricDistanceError (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &base, const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &target)
	Point cloud distance error metric calculator.
void	rail::pick_and_place::point_cloud_metrics::calculateRegistrationMetricOverlap (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &base, const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &target, double &overlap, double &color_error, const double metric_overlap_search_radius=DEFAULT_METRIC_OVERLAP_SEARCH_RADIUS)
	Point cloud overlap metric calculator.
double	rail::pick_and_place::point_cloud_metrics::calculateStdDevColors (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &pc, double &std_dev_r, double &std_dev_g, double &std_dev_b)
	Color value standard deviation calculator.
double	rail::pick_and_place::point_cloud_metrics::calculateStdDevColors (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &pc, double &std_dev_r, double &std_dev_g, double &std_dev_b, const double avg_r, const double avg_g, const double avg_b)
	Color value standard deviation calculator.
bool	rail::pick_and_place::point_cloud_metrics::classifyMerge (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &base, const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &target)
	Classify the point cloud merge.
geometry_msgs::Point	rail::pick_and_place::point_cloud_metrics::computeCentroid (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &pc)
	Compute the centroid of the given point cloud.
void	rail::pick_and_place::point_cloud_metrics::filterPointCloudOutliers (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &pc, const double filter_outlier_search_radius=DEFAULT_FILTER_OUTLIER_SEARCH_RADIUS, const double filter_outlier_min_num_neighbors=DEFAULT_FILTER_OUTLIER_MIN_NUM_NEIGHBORS)
	Filter point cloud outliers.
void	rail::pick_and_place::point_cloud_metrics::filterRedundantPoints (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &pc, const double filter_redundant_search_radius=DEFAULT_FILTER_REDUNDANT_SEARCH_RADIUS)
	Filter redundant points from the point cloud.
void	rail::pick_and_place::point_cloud_metrics::pclPointCloudToROSPointCloud2 (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &in, sensor_msgs::PointCloud2 &out)
	Convert a PCL point cloud to a ROS point cloud message.
tf2::Transform	rail::pick_and_place::point_cloud_metrics::performICP (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &target, const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &source, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &result)
	Perform ICP on the given point clouds.
void	rail::pick_and_place::point_cloud_metrics::rosPointCloud2ToPCLPointCloud (const sensor_msgs::PointCloud2 in, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &out)
	Convert a ROS point cloud message to a PCL point cloud.
void	rail::pick_and_place::point_cloud_metrics::transformToOrigin (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &pc, const geometry_msgs::Point &centroid)
	Transform the point cloud to be centered about the origin.
void	rail::pick_and_place::point_cloud_metrics::transformToOrigin (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &pc)
	Transform the point cloud to be centered about the origin.
void	rail::pick_and_place::point_cloud_metrics::transformToOrigin (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &pc, std::vector< graspdb::Grasp > &grasps, const geometry_msgs::Point &centroid)
	Transform the point cloud and grasps to be centered about the origin.
void	rail::pick_and_place::point_cloud_metrics::transformToOrigin (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &pc, std::vector< graspdb::Grasp > &grasps)
	Transform the point cloud and grasps to be centered about the origin.
Variables
static const int	rail::pick_and_place::point_cloud_metrics::DEFAULT_FILTER_OUTLIER_MIN_NUM_NEIGHBORS = 6
static const double	rail::pick_and_place::point_cloud_metrics::DEFAULT_FILTER_OUTLIER_SEARCH_RADIUS = 0.01
static const double	rail::pick_and_place::point_cloud_metrics::DEFAULT_FILTER_REDUNDANT_SEARCH_RADIUS = 0.0004
static const double	rail::pick_and_place::point_cloud_metrics::DEFAULT_METRIC_OVERLAP_SEARCH_RADIUS = 0.005

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Detailed Description

Various point cloud metric calculations and utilities.

A collection of static functions for calculating various point cloud metrics and utility functions.

Author:

Russell Toris, WPI - russell.toris@gmail.com

David Kent, WPI - russell.toris@gmail.com

Date:

April 8, 2015

Definition in file PointCloudMetrics.h.