#include <PointcloudCreator.hpp>

Static Public Member Functions
static Pointcloud::Ptr	createBlobOfPoints (double mean, double stdDev)

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

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

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

static Pointcloud::Ptr	createNoisyPointcloudOfStepTerrain (double stepLocation, double zHigh, double zLow, double stdDev)

static Pointcloud::Ptr	createPerfectPlane (double *height)

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

Detailed Description

Definition at line 21 of file PointcloudCreator.hpp.

Member Function Documentation

Pointcloud::Ptr grid_map::grid_map_pcl_test::PointcloudCreator::createBlobOfPoints	(	double *	mean,
		double *	stdDev
	)

static

Creates a blob of points (x,y,z). All coordinates (x,y,z) have the same mean and standard deviation. Visualize blob.pcd inside test/test_data folder for better understanding.

Parameters

[out]	mean	coordinate of the blob of points
[out]	standard	deviation for points

Returns: point cloud that represents that blob of points

Definition at line 27 of file PointcloudCreator.cpp.

Pointcloud::Ptr grid_map::grid_map_pcl_test::PointcloudCreator::createNBlobsAboveEachOther	(	double *	minZ,
		double *	stdDevZ,
		int *	nBlobs
	)

static

Creates N blobs of points where N is uniformly distributed. All coordinates (x,y,z) standard deviation. Their mean is increased (deterministically) to ensure that blobs are apart from each other. Visualize Nblobs.pcd inside test/test_data folder for better understanding.

Parameters

[out]	height	(z coordinate) of lowest blob
[out]	stdDevZ	of all the blobs
[out]	number	of blobs

Returns: point cloud with n blobs

Definition at line 109 of file PointcloudCreator.cpp.

Pointcloud::Ptr grid_map::grid_map_pcl_test::PointcloudCreator::createNoisyDoublePlane	(	double *	minZ,
		double *	stdDevZ
	)

static

Creates two planes (top and bottom) where z coordinate of the points is normally distributed with random mean and random standard deviation. One plane is above the other. Location of x and y coordinate is an uniform distribution. Visualize doublePlane.pcd inside test/test_data folder for better understanding.

Parameters

[out]	height	of the bottom plane
[out]	standard	deviation in z coordinate

Returns: point cloud that represents a two planes above each other

Definition at line 57 of file PointcloudCreator.cpp.

Pointcloud::Ptr grid_map::grid_map_pcl_test::PointcloudCreator::createNoisyPlane	(	double *	height,
		double *	stdDevZ
	)

static

Creates a plane where z coordinate of the points is normally distributed with mean=height and standard deviation = stdDevZ (both height and stdDevZ are uniformly distributed). Location of x and y coordinate is an uniform distribution. Visualize noisyPlane.pcd inside test/test_data folder for better understanding.

Parameters

[out]	height	of the points
[out]	standard	deviation in z coordinate

Returns: point cloud that represents a noisy plane

Definition at line 79 of file PointcloudCreator.cpp.

Pointcloud::Ptr grid_map::grid_map_pcl_test::PointcloudCreator::createNoisyPointcloudOfStepTerrain	(	double *	stepLocation,
		double *	zHigh,
		double *	zLow,
		double *	stdDev
	)

static

Creates a noisy point cloud of a step (i.e. two planes with some displacement in z direction in between). Visualize stepTerrain.pcd inside test/test_data folder for more info. Along the y dimension there is step is located along the x dimension.

Parameters

[out]	x	coordinate of the step
[out]	height	(z coordinate) of the higher plane
[out]	height	(z coordinate) of the lower plane
[out]	std	deviation in z direction of the points that form a plane

Returns: point cloud of the step terrain

Definition at line 14 of file PointcloudCreator.cpp.

Pointcloud::Ptr grid_map::grid_map_pcl_test::PointcloudCreator::createPerfectPlane ( double * height )

static

Creates a plane with no noisy in z direction at a height that is uniformly distributed. Both x and y coordinates of points in the point cloud are uniformly distributed. Visualize perfectPlane.pcd inside test/test_data folder for better understanding.

Parameters

[out] height (z coordinate) of the plane

Returns: point cloud of a perfect plane

Definition at line 98 of file PointcloudCreator.cpp.

Pointcloud::Ptr grid_map::grid_map_pcl_test::PointcloudCreator::createVerticesOfASquare	(	double *	x,
		double *	y
	)

static

Creates a set of 4 points that form a square, with the center in the origin of the coordinate system. The points are (x,0,z), (-x,0,z), (0,y,z) and (0,-y,z). Variables x,y,z are uniformly distributed. Visualize 4pointSquare.pcd inside test/test_data folder for better understanding.

Parameters

[out]	variable	x
[out]	varialbe	y

Returns: point cloud with 4 points that form a square

Definition at line 40 of file PointcloudCreator.cpp.

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

Static Public Member Functions

Detailed Description

Member Function Documentation