PointcloudCreator.hpp

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/*
 * PointcloudCreator.hpp
 *
 *  Created on: Nov 20, 2019
 *      Author: Edo Jelavic
 *      Institute: ETH Zurich, Robotic Systems Lab
 */

#pragma once

#include "test_helpers.hpp"

namespace grid_map {
namespace grid_map_pcl_test {

/*
 * Creates point clouds with some noise in the z direction (which is
 * the direction perpendicular to the surface normal). This is an approximation
 * of a point cloud that would be obtained with a real sensor.
 */
class PointcloudCreator {
 public:
  static Pointcloud::Ptr createNoisyPointcloudOfStepTerrain(double* stepLocation, double* zHigh, double* zLow, double* stdDev);

  static Pointcloud::Ptr createBlobOfPoints(double* mean, double* stdDev);

  static Pointcloud::Ptr createVerticesOfASquare(double* x, double* y);

  static Pointcloud::Ptr createNoisyPlane(double* height, double* stdDevZ);

  static Pointcloud::Ptr createNoisyDoublePlane(double* minZ, double* stdDevZ);

  static Pointcloud::Ptr createPerfectPlane(double* height);

  static Pointcloud::Ptr createNBlobsAboveEachOther(double* minZ, double* stdDevZ, int* nBlobs);
};

} /* namespace grid_map_pcl_test*/
} /* namespace grid_map*/