Classes
class	BAGReader
	BAG PointCloud file format reader. More...

class	BasePublisher

class	BoundaryEstimation
	BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle criterion. The code makes use of the estimated surface normals at each point in the input dataset. More...

class	ConvexHull2D
	ConvexHull2D represents a 2D ConvexHull implementation. More...

class	CropBox
	CropBox is a filter that allows the user to filter all the data inside of a given box. More...

class	EuclideanClusterExtraction
	EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense. More...

class	ExtractIndices
	ExtractIndices extracts a set of indices from a PointCloud as a separate PointCloud. More...

class	ExtractPolygonalPrismData
	ExtractPolygonalPrismData uses a set of point indices that represent a planar model, and together with a given height, generates a 3D polygonal prism. The polygonal prism is then used to segment all points lying inside it. More...

class	Feature
	Feature represents the base feature class. Some generic 3D operations that are applicable to all features are defined here as static methods. More...

class	FeatureFromNormals

class	Filter
	Filter represents the base filter class. Some generic 3D operations that are applicable to all filters are defined here as static methods. More...

class	FPFHEstimation
	FPFHEstimation estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud dataset containing points and normals. More...

class	FPFHEstimationOMP
	FPFHEstimationOMP estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud dataset containing points and normals, in parallel, using the OpenMP standard. More...

class	MomentInvariantsEstimation
	MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point. More...

class	MovingLeastSquares
	MovingLeastSquares represents a nodelet using the MovingLeastSquares implementation. The type of the output is the same as the input, it only smooths the XYZ coordinates according to the parameters. Normals are estimated at each point as well and published on a separate topic. More...

class	NormalEstimation
	NormalEstimation estimates local surface properties at each 3D point, such as surface normals and curvatures. More...

class	NormalEstimationOMP
	NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and curvatures, in parallel, using the OpenMP standard. More...

class	NormalEstimationTBB
	NormalEstimationTBB estimates local surface properties at each 3D point, such as surface normals and curvatures, in parallel, using Intel's Threading Building Blocks library. More...

class	PassThrough
	PassThrough uses the base Filter class methods to pass through all data that satisfies the user given constraints. More...

class	PCDReader
	Point Cloud Data (PCD) file format reader. More...

class	PCDWriter
	Point Cloud Data (PCD) file format writer. More...

class	PCLNodelet
	PCLNodelet represents the base PCL Nodelet class. All PCL nodelets should inherit from this class. More...

class	PFHEstimation
	PFHEstimation estimates the Point Feature Histogram (PFH) descriptor for a given point cloud dataset containing points and normals. More...

class	PointCloudConcatenateDataSynchronizer
	PointCloudConcatenateFieldsSynchronizer is a special form of data synchronizer: it listens for a set of input PointCloud messages on the same topic, checks their timestamps, and concatenates their fields together into a single PointCloud output message. More...

class	PointCloudConcatenateFieldsSynchronizer
	PointCloudConcatenateFieldsSynchronizer is a special form of data synchronizer: it listens for a set of input PointCloud messages on the same topic, checks their timestamps, and concatenates their fields together into a single PointCloud output message. More...

class	PrincipalCurvaturesEstimation
	PrincipalCurvaturesEstimation estimates the directions (eigenvectors) and magnitudes (eigenvalues) of principal surface curvatures for a given point cloud dataset containing points and normals. More...

class	ProjectInliers
	ProjectInliers uses a model and a set of inlier indices from a PointCloud to project them into a separate PointCloud. More...

class	Publisher

class	Publisher< sensor_msgs::PointCloud2 >

class	RadiusOutlierRemoval
	RadiusOutlierRemoval is a simple filter that removes outliers if the number of neighbors in a certain search radius is smaller than a given K. More...

class	SACSegmentation
	SACSegmentation represents the Nodelet segmentation class for Sample Consensus methods and models, in the sense that it just creates a Nodelet wrapper for generic-purpose SAC-based segmentation. More...

class	SACSegmentationFromNormals
	SACSegmentationFromNormals represents the PCL nodelet segmentation class for Sample Consensus methods and models that require the use of surface normals for estimation. More...

class	SegmentDifferences
	SegmentDifferences obtains the difference between two spatially aligned point clouds and returns the difference between them for a maximum given distance threshold. More...

class	SHOTEstimation
	SHOTEstimation estimates SHOT descriptor. More...

class	SHOTEstimationOMP
	SHOTEstimation estimates SHOT descriptor using OpenMP. More...

class	StatisticalOutlierRemoval
	StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data. For more information check: More...

class	VFHEstimation
	VFHEstimation estimates the Viewpoint Feature Histogram (VFH) descriptor for a given point cloud dataset containing points and normals. More...

class	VoxelGrid
	VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data. More...

Functions
void	transformAsMatrix (const tf::Transform &bt, Eigen::Matrix4f &out_mat)
	Obtain the transformation matrix from TF into an Eigen form. More...

template<typename PointT >
void	transformPointCloud (const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, const tf::Transform &transform)
	Apply a rigid transform defined by a 3D offset and a quaternion. More...

template<typename PointT >
bool	transformPointCloud (const std::string &target_frame, const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, const tf::TransformListener &tf_listener)
	Transforms a point cloud in a given target TF frame using a TransformListener. More...

bool	transformPointCloud (const std::string &target_frame, const sensor_msgs::PointCloud2 &in, sensor_msgs::PointCloud2 &out, const tf::TransformListener &tf_listener)
	Transform a sensor_msgs::PointCloud2 dataset from its frame to a given TF target frame. More...

void	transformPointCloud (const std::string &target_frame, const tf::Transform &net_transform, const sensor_msgs::PointCloud2 &in, sensor_msgs::PointCloud2 &out)
	Transform a sensor_msgs::PointCloud2 dataset from its frame to a given TF target frame. More...

void	transformPointCloud (const Eigen::Matrix4f &transform, const sensor_msgs::PointCloud2 &in, sensor_msgs::PointCloud2 &out)
	Transform a sensor_msgs::PointCloud2 dataset using an Eigen 4x4 matrix. More...

template<typename PointT >
bool	transformPointCloud (const std::string &target_frame, const ros::Time &target_time, const pcl::PointCloud< PointT > &cloud_in, const std::string &fixed_frame, pcl::PointCloud< PointT > &cloud_out, const tf::TransformListener &tf_listener)
	Transforms a point cloud in a given target TF frame using a TransformListener. More...

template<typename PointT >
void	transformPointCloudWithNormals (const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, const tf::Transform &transform)
	Transform a point cloud and rotate its normals using an Eigen transform. More...

template<typename PointT >
bool	transformPointCloudWithNormals (const std::string &target_frame, const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, const tf::TransformListener &tf_listener)
	Transforms a point cloud in a given target TF frame using a TransformListener. More...

template<typename PointT >
bool	transformPointCloudWithNormals (const std::string &target_frame, const ros::Time &target_time, const pcl::PointCloud< PointT > &cloud_in, const std::string &fixed_frame, pcl::PointCloud< PointT > &cloud_out, const tf::TransformListener &tf_listener)
	Transforms a point cloud in a given target TF frame using a TransformListener. More...

Detailed Description

Author: Patrick Mihelich

Publisher represents a ROS publisher for the templated PointCloud implementation.

Function Documentation

void pcl_ros::transformAsMatrix	(	const tf::Transform &	bt,
		Eigen::Matrix4f &	out_mat
	)

Obtain the transformation matrix from TF into an Eigen form.

Parameters

bt	the TF transformation
out_mat	the Eigen transformation

Definition at line 212 of file transforms.cpp.

template<typename PointT >

void pcl_ros::transformPointCloud	(	const pcl::PointCloud< PointT > &	cloud_in,
		pcl::PointCloud< PointT > &	cloud_out,
		const tf::Transform &	transform
	)

Apply a rigid transform defined by a 3D offset and a quaternion.

Parameters

cloud_in	the input point cloud
cloud_out	the input point cloud
transform	a rigid transformation from tf

Note: calls the Eigen version

Definition at line 71 of file transforms.hpp.

template<typename PointT >

bool pcl_ros::transformPointCloud	(	const std::string &	target_frame,
		const pcl::PointCloud< PointT > &	cloud_in,
		pcl::PointCloud< PointT > &	cloud_out,
		const tf::TransformListener &	tf_listener
	)

Transforms a point cloud in a given target TF frame using a TransformListener.

Parameters

target_frame	the target TF frame the point cloud should be transformed to
cloud_in	the input point cloud
cloud_out	the input point cloud
tf_listener	a TF listener object

Definition at line 126 of file transforms.hpp.

bool pcl_ros::transformPointCloud	(	const std::string &	target_frame,
		const sensor_msgs::PointCloud2 &	in,
		sensor_msgs::PointCloud2 &	out,
		const tf::TransformListener &	tf_listener
	)

Transform a sensor_msgs::PointCloud2 dataset from its frame to a given TF target frame.

Parameters

target_frame	the target TF frame
in	the input PointCloud2 dataset
out	the resultant transformed PointCloud2 dataset
tf_listener	a TF listener object

Definition at line 48 of file transforms.cpp.

void pcl_ros::transformPointCloud	(	const std::string &	target_frame,
		const tf::Transform &	net_transform,
		const sensor_msgs::PointCloud2 &	in,
		sensor_msgs::PointCloud2 &	out
	)

Transform a sensor_msgs::PointCloud2 dataset from its frame to a given TF target frame.

Parameters

target_frame	the target TF frame
net_transform	the TF transformer object
in	the input PointCloud2 dataset
out	the resultant transformed PointCloud2 dataset

Definition at line 86 of file transforms.cpp.

void pcl_ros::transformPointCloud	(	const Eigen::Matrix4f &	transform,
		const sensor_msgs::PointCloud2 &	in,
		sensor_msgs::PointCloud2 &	out
	)

Transform a sensor_msgs::PointCloud2 dataset using an Eigen 4x4 matrix.

Parameters

transform	the transformation to use on the points
in	the input PointCloud2 dataset
out	the resultant transformed PointCloud2 dataset

Definition at line 106 of file transforms.cpp.

template<typename PointT >

bool pcl_ros::transformPointCloud	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const pcl::PointCloud< PointT > &	cloud_in,
		const std::string &	fixed_frame,
		pcl::PointCloud< PointT > &	cloud_out,
		const tf::TransformListener &	tf_listener
	)

Transforms a point cloud in a given target TF frame using a TransformListener.

Parameters

target_frame	the target TF frame the point cloud should be transformed to
target_time	the target timestamp
cloud_in	the input point cloud
fixed_frame	fixed TF frame
cloud_out	the input point cloud
tf_listener	a TF listener object

Definition at line 159 of file transforms.hpp.

template<typename PointT >

void pcl_ros::transformPointCloudWithNormals	(	const pcl::PointCloud< PointT > &	cloud_in,
		pcl::PointCloud< PointT > &	cloud_out,
		const tf::Transform &	transform
	)

Transform a point cloud and rotate its normals using an Eigen transform.

Parameters

cloud_in	the input point cloud
cloud_out	the input point cloud
transform	a rigid transformation from tf

Note: calls the Eigen version

Definition at line 50 of file transforms.hpp.

template<typename PointT >

bool pcl_ros::transformPointCloudWithNormals	(	const std::string &	target_frame,
		const pcl::PointCloud< PointT > &	cloud_in,
		pcl::PointCloud< PointT > &	cloud_out,
		const tf::TransformListener &	tf_listener
	)

Transforms a point cloud in a given target TF frame using a TransformListener.

Parameters

target_frame	the target TF frame the point cloud should be transformed to
cloud_in	the input point cloud
cloud_out	the input point cloud
tf_listener	a TF listener object

Definition at line 92 of file transforms.hpp.

template<typename PointT >

bool pcl_ros::transformPointCloudWithNormals	(	const std::string &	target_frame,
		const ros::Time &	target_time,
		const pcl::PointCloud< PointT > &	cloud_in,
		const std::string &	fixed_frame,
		pcl::PointCloud< PointT > &	cloud_out,
		const tf::TransformListener &	tf_listener
	)

Transforms a point cloud in a given target TF frame using a TransformListener.

Parameters

target_frame	the target TF frame the point cloud should be transformed to
target_time	the target timestamp
cloud_in	the input point cloud
fixed_frame	fixed TF frame
cloud_out	the input point cloud
tf_listener	a TF listener object

Definition at line 192 of file transforms.hpp.

Classes

Functions

Detailed Description

Function Documentation