template<class PointType>
PointCloudProcessor class
A wrapper class to do a basic PCL processing for perception aided locomotion.
The available operations,
- Downsample a point cloud
- Remove outliers
- Extract spatial clusters of point cloud
- Transform a point cloud
Constructors, destructors, conversion operators
- PointCloudProcessor()
- ~PointCloudProcessor() defaulted
Public functions
-
auto initialize(std::weak_ptr<BipedalLocomotion::
ParametersHandler:: IParametersHandler> handler) -> bool - auto downsample(const typename pcl::PointCloud<PointType>::Ptr inCloud, typename pcl::PointCloud<PointType>::Ptr outCloud) -> bool
- Downsample the point cloud using voxel grid filter See https://pcl.readthedocs.io/projects/tutorials/en/latest/voxel_
grid.html#voxelgrid. - auto removeOutliers(const typename pcl::PointCloud<PointType>::Ptr inCloud, typename pcl::PointCloud<PointType>::Ptr outCloud) -> bool
- Remove outliers from point cloud based on nearest neighbors See https://pcl.readthedocs.io/projects/tutorials/en/latest/statistical_
outlier.html#statistical-outlier-removal. - auto extractClusters(const typename pcl::PointCloud<PointType>::Ptr inCloud, std::vector<pcl::PointIndices>& clusterIndices, std::vector<typename pcl::PointCloud<PointType>::Ptr>& cloudClusters) -> bool
- Extract Euclidean clustering based point cloud clusters See https://pcl.readthedocs.io/projects/tutorials/en/latest/cluster_
extraction.html#cluster-extraction. - auto transform(const typename pcl::PointCloud<PointType>::Ptr inCloud, Eigen::Ref<const Eigen::Matrix4f> transform, typename pcl::PointCloud<PointType>::Ptr outCloud) -> bool
- Transform point cloud See https://pcl.readthedocs.io/projects/tutorials/en/latest/matrix_
transform.html. - auto transform(const typename pcl::PointCloud<PointType>::Ptr inCloud, const Eigen::Affine3f& transform, typename pcl::PointCloud<PointType>::Ptr outCloud) -> bool
- Transform point cloud See https://pcl.readthedocs.io/projects/tutorials/en/latest/matrix_
transform.html.