#include <PointcloudProcessor.hpp>

Public Member Functions
Pointcloud::Ptr	applyRigidBodyTransformation (Pointcloud::ConstPtr inputCloud) const

Pointcloud::Ptr	downsampleInputCloud (Pointcloud::ConstPtr inputCloud) const

std::vector< Pointcloud::Ptr >	extractClusterCloudsFromPointcloud (Pointcloud::ConstPtr inputCloud) const

std::vector< pcl::PointIndices >	extractClusterIndicesFromPointcloud (Pointcloud::ConstPtr inputCloud) const

void	loadParameters (const std::string &filename)

	PointcloudProcessor ()

Pointcloud::Ptr	removeOutliersFromInputCloud (Pointcloud::ConstPtr inputCloud) const

virtual	~PointcloudProcessor ()=default

Static Public Member Functions
static Pointcloud::Ptr	makeCloudFromIndices (const std::vector< int > &indices, Pointcloud::ConstPtr inputCloud)

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

Protected Attributes
std::unique_ptr< grid_map_pcl::PclLoaderParameters >	params_

Detailed Description

Definition at line 19 of file PointcloudProcessor.hpp.

Constructor & Destructor Documentation

grid_map::grid_map_pcl::PointcloudProcessor::PointcloudProcessor ( )

Definition at line 27 of file PointcloudProcessor.cpp.

virtual grid_map::grid_map_pcl::PointcloudProcessor::~PointcloudProcessor ( )

virtualdefault

Member Function Documentation

Pointcloud::Ptr grid_map::grid_map_pcl::PointcloudProcessor::applyRigidBodyTransformation ( Pointcloud::ConstPtr inputCloud ) const

Applies a rigid body transformation to the input cloud. The transformation is specified in the configuration file

Parameters

[in] ptr to the input cloud

Returns: resulting cloud when rigid body transformation has been applied

Definition at line 104 of file PointcloudProcessor.cpp.

Pointcloud::Ptr grid_map::grid_map_pcl::PointcloudProcessor::downsampleInputCloud ( Pointcloud::ConstPtr inputCloud ) const

Downsample the point cloud using voxel grid method. Implementation is based on the implementation from pcl. The explanation of the algorithm can be found here: http://pointclouds.org/documentation/tutorials/voxel_grid.php

Parameters

[in] Input point cloud

Returns: Downsampled point cloud

Definition at line 87 of file PointcloudProcessor.cpp.

std::vector< Pointcloud::Ptr > grid_map::grid_map_pcl::PointcloudProcessor::extractClusterCloudsFromPointcloud ( Pointcloud::ConstPtr inputCloud ) const

Finds clusters in the input cloud and returns vector point clouds. Each pointcloud in the vector is a cluster in the input cloud. There can be more than one cluster.

Parameters

[in] pointer to the pcl point cloud

Returns: vector of point clouds. Vector will be empty if no clusters are found.

Definition at line 45 of file PointcloudProcessor.cpp.

std::vector< pcl::PointIndices > grid_map::grid_map_pcl::PointcloudProcessor::extractClusterIndicesFromPointcloud ( Pointcloud::ConstPtr inputCloud ) const

Finds clusters in the input cloud and returns vector of sets of indices. Each set of indices corresponds to the points in the input cloud that belong to a cluster. There can be more than one cluster.

Parameters

[in] pointer to the pcl point cloud

Returns: vector of sets of indices. Vector will be empty if no clusters are found.

Definition at line 58 of file PointcloudProcessor.cpp.

void grid_map::grid_map_pcl::PointcloudProcessor::loadParameters ( const std::string & filename )

Load parameters for the point cloud processing.

Parameters

[in] full path to the config file with parameters

Definition at line 31 of file PointcloudProcessor.cpp.

Pointcloud::Ptr grid_map::grid_map_pcl::PointcloudProcessor::makeCloudFromIndices	(	const std::vector< int > &	indices,
		Pointcloud::ConstPtr	inputCloud
	)

static

Given a vector of indices and an input point cloud, the function creates a new cloud that contains points from the input point cloud indexed by the vector of indices.

Parameters

[in]	vector	of indices
[in]	pointer	to the pcl point cloud

Returns: Pointer to the point cloud with points indexed by indices.

Definition at line 74 of file PointcloudProcessor.cpp.

Pointcloud::Ptr grid_map::grid_map_pcl::PointcloudProcessor::removeOutliersFromInputCloud ( Pointcloud::ConstPtr inputCloud ) const

Remove outliers from the point cloud. Function is based on the StatisticalOutlierRemoval filter from pcl. The explanation on how the algorithm works can be found here: http://pointclouds.org/documentation/tutorials/statistical_outlier.php

Parameters

[in] Input point cloud

Returns: Point cloud where outliers have been removed.

Definition at line 35 of file PointcloudProcessor.cpp.

void grid_map::grid_map_pcl::PointcloudProcessor::savePointCloudAsPcdFile	(	const std::string &	filename,
		const Pointcloud &	cloud
	)

static

Saves a point cloud to a pcd file.

Parameters

[in] full path to the output cloud

Definition at line 97 of file PointcloudProcessor.cpp.

Member Data Documentation

std::unique_ptr<grid_map_pcl::PclLoaderParameters> grid_map::grid_map_pcl::PointcloudProcessor::params_

protected

Definition at line 94 of file PointcloudProcessor.hpp.

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

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation