#include <pcl_utils.h>

Static Public Member Functions
static pcl::visualization::PCLVisualizer::Ptr	pclViewer ()

static pcl::visualization::PCLVisualizer::Ptr	pclViewer (typename PclCloud::Ptr &cloud)

static void	showCloud (typename PclCloud::Ptr &cloud)

static void	addColoredCloud (pcl::visualization::PCLVisualizer::Ptr &viewer, typename PclCloud::Ptr &cloud, float r=255.0f, float g=0.0f, float b=0.0f)

static void	downsample (typename PclCloud::Ptr &cloud, typename PclCloud::Ptr &outcloud, const float leaf=0.005f)

template<typename PointNT >
static void	estimateNormal (typename pcl::PointCloud< PointNT >::Ptr &cloud, typename pcl::PointCloud< PointNT >::Ptr &outcloud, const float radius=0.01)

static PclCloud::Ptr	cropPointCloud (typename PclCloud::Ptr &cloud, Eigen::Vector2i &topleft, Eigen::Vector2i &bottomright)

static PclCloud::Ptr	cropPointCloud (typename PclCloud::Ptr &cloud, const Eigen::Vector4i &box)

static void	filterOutliers (typename PclCloud::Ptr &cloud, std::string axis, float min, float max)

static PclCloud::Ptr	extractIndices (typename PclCloud::Ptr &cloud, std::vector< int > &indices, bool negative=false, bool keep_organized=false)

static PclCloud::Ptr	extractIndices (typename PclCloud::Ptr &cloud, pcl::PointIndices::Ptr &indices, bool negative=false, bool keep_organized=false)

static void	extractIndices (typename PclCloud::Ptr &cloud, pcl::PointIndices::Ptr &indices, typename PclCloud::Ptr &out_cloud, bool negative=false, bool keep_organized=false)

static void	segmentPlane (typename PclCloud::Ptr &cloud, pcl::ModelCoefficients::Ptr &coeff, pcl::PointIndices::Ptr &inliers)

static void	filterTableTop (typename PclCloud::Ptr &cloud, float min_table_z, float min_table_x)

static void	convertToXYZRGB (typename pcl::PointCloud< T > &cloud, Eigen::Vector3i &color, pcl::PointCloud< pcl::PointXYZRGB > &out_cloud)

static void	cluster (typename PclCloud::Ptr &cloud, std::vector< pcl::PointIndices > &cluster_indices)

static Eigen::Vector4i	findBox (const pcl::PointIndices &indices, typename PclCloud::Ptr &cloud)

static T	findNearestNonNan (typename PclCloud::Ptr &cloud, int cx, int cy)

static T	createPoint (float x, float y, float z)

static PclCloud::Ptr	createCloud (const Eigen::Ref< const Eigen::MatrixXf > &mat)

static Eigen::Matrix< float, 3, 8 >	createOrientedBox (typename PclCloud::Ptr &cloud)

Detailed Description

template<typename T>
class utils::PclUtils< T >

Utility functions for PCL library

Once the class is templated, the static methods act as common utiltiy functions for that specific type unless it accepts another type.

Member Function Documentation

template<typename T >

static void utils::PclUtils< T >::addColoredCloud	(	pcl::visualization::PCLVisualizer::Ptr &	viewer,
		typename PclCloud::Ptr &	cloud,
		float	r = `255.0f`,
		float	g = `0.0f`,
		float	b = `0.0f`
	)

inlinestatic

Add pointcloud to the visualizer with colored option. Default color is RED

Parameters

viewer	PCL Visualizer object that is created either using pcl-utils or PCL.
cloud	Input pointcloud pointer.
r	Red component. To choose random color, pass r as any negative number.
g	Green component.
b	Blue component.

template<typename T >

static void utils::PclUtils< T >::cluster	(	typename PclCloud::Ptr &	cloud,
		std::vector< pcl::PointIndices > &	cluster_indices
	)

inlinestatic

Cluster pointcloud by Euclidean distance.

ClusterTolerance: 0.02 // 2cm Min cluster size: 600 Max cluster size: 50000

Parameters

cloud	Input pointcloud pointer.
cluster_indices	Output vector of PointIndices of all the clusters

template<typename T >

static void utils::PclUtils< T >::convertToXYZRGB	(	typename pcl::PointCloud< T > &	cloud,
		Eigen::Vector3i &	color,
		pcl::PointCloud< pcl::PointXYZRGB > &	out_cloud
	)

inlinestatic

Convert XYZ cloud to XYZRGB cloud.

template<typename T >

static PclCloud::Ptr utils::PclUtils< T >::createCloud ( const Eigen::Ref< const Eigen::MatrixXf > & mat )

inlinestatic

Factory method to create pointcloud from the Eigen matrix

Parameters

mat	Eigen matrix of size 3xn.

Returns: Newly created pointcloud pointer.

template<typename T >

static Eigen::Matrix<float, 3, 8> utils::PclUtils< T >::createOrientedBox ( typename PclCloud::Ptr & cloud )

inlinestatic

Creates a 3D oriented bounding box around the given pointcloud.

Parameters

cloud Input pointcloud pointer.

Returns: Eigen matrix of size 3x8. Eight point of the cuboid.

template<typename T >

static T utils::PclUtils< T >::createPoint	(	float	x,
		float	y,
		float	z
	)

inlinestatic

Factory method to create a Point of templated type.

Returns: Newly created point.

template<typename T >

static PclCloud::Ptr utils::PclUtils< T >::cropPointCloud	(	typename PclCloud::Ptr &	cloud,
		Eigen::Vector2i &	topleft,
		Eigen::Vector2i &	bottomright
	)

inlinestatic

Crop an organized pointcloud using the given bounding box.

Parameters

cloud	Input pointcloud pointer.
topleft	Eigen vector for (x,y) value to represent topleft corner of the bounding box.
bottomright	Eigen vector for bottom-right corner.

Returns: Cropped pointcloud

template<typename T >

static PclCloud::Ptr utils::PclUtils< T >::cropPointCloud	(	typename PclCloud::Ptr &	cloud,
		const Eigen::Vector4i &	box
	)

inlinestatic

Crop an organized pointcloud using the given bounding box.

Parameters

cloud	Input pointcloud pointer.
box	Eigen vector that contains (x,y,x2,y2) denoting a bounding box.

Returns: Cropped pointcloud

template<typename T >

static void utils::PclUtils< T >::downsample	(	typename PclCloud::Ptr &	cloud,
		typename PclCloud::Ptr &	outcloud,
		const float	leaf = `0.005f`
	)

inlinestatic

Downsample pointcloud using given leaf size.

Refer pcl::VoxelGrid for details.

Parameters

cloud	Input pointcloud pointer.
outcloud	Output pointcloud pointer.
leaf	Leaf size for VoxelGrid downsampling (default is 0.005)

template<typename T >

template<typename PointNT >

static void utils::PclUtils< T >::estimateNormal	(	typename pcl::PointCloud< PointNT >::Ptr &	cloud,
		typename pcl::PointCloud< PointNT >::Ptr &	outcloud,
		const float	radius = `0.01`
	)

inlinestatic

Surface normal estimation for the given pointcloud

Refer pcl::NormalEstimationOMP for details

Parameters

cloud	Input pointcloud pointer.
outcloud	Output pointcloud pointer.
radius	Radius search parameter for Normal Estimation.

template<typename T >

static PclCloud::Ptr utils::PclUtils< T >::extractIndices	(	typename PclCloud::Ptr &	cloud,
		std::vector< int > &	indices,
		bool	negative = `false`,
		bool	keep_organized = `false`
	)

inlinestatic

Indices points extractor. Extract the points from the pointcloud based on the input indices.

Parameters

cloud	Input pointcloud pointer.
indices	Vector of indices of the points in the pointcloud.
negative	If true, the indices are excluded and remaining points are retained. Default is false.
keep_organized	If true, the points that does not met the condition will be set to NaN.

Returns: Output cloud after filtering.

template<typename T >

static PclCloud::Ptr utils::PclUtils< T >::extractIndices	(	typename PclCloud::Ptr &	cloud,
		pcl::PointIndices::Ptr &	indices,
		bool	negative = `false`,
		bool	keep_organized = `false`
	)

inlinestatic

Indices points extractor. Extract the points from the pointcloud based on the input indices.

Parameters

cloud	Input pointcloud pointer.
indices	PointIndices object that represents the input indices.
negative	If true, the indices are excluded and remaining points are retained. Default is false.
keep_organized	If true, the points that does not met the condition will be set to NaN.

Returns: Output cloud after filtering.

template<typename T >

static void utils::PclUtils< T >::extractIndices	(	typename PclCloud::Ptr &	cloud,
		pcl::PointIndices::Ptr &	indices,
		typename PclCloud::Ptr &	out_cloud,
		bool	negative = `false`,
		bool	keep_organized = `false`
	)

inlinestatic

Indices points extractor. Extract the points from the pointcloud based on the input indices.

Parameters

cloud	Input pointcloud pointer.
indices	Vector of indices of the points in the pointcloud.
outcloud	Output pointcloud pointer.
negative	If true, the indices are excluded and remaining points are retained. Default is false.
keep_organized	If true, the points that does not met the condition will be set to NaN.

template<typename T >

static void utils::PclUtils< T >::filterOutliers	(	typename PclCloud::Ptr &	cloud,
		std::string	axis,
		float	min,
		float	max
	)

inlinestatic

Pass-Through filter for any axis. Filters the points that meets the given minmax criteria. Filter is applied on the input pointcloud itself.

Parameters

cloud	Input pointcloud pointer.
axis	A string denoting the axis. Either "x" / "y" / "z".
min	Minimum allowed value for the given axis.
max	Maximum allowed value for the given axis.

template<typename T >

static void utils::PclUtils< T >::filterTableTop	(	typename PclCloud::Ptr &	cloud,
		float	min_table_z,
		float	min_table_x
	)

inlinestatic

Filter out the pointcloud and keep only table-top points.

This utility can be used to filter the objects on top of the table. Input cloud is modified directly.

Parameters

cloud	Input pointcloud pointer.
min_table_z	Minimum z value to be considered.
min_table_x	Minimum x value to be considered.

template<typename T >

static Eigen::Vector4i utils::PclUtils< T >::findBox	(	const pcl::PointIndices &	indices,
		typename PclCloud::Ptr &	cloud
	)

inlinestatic

Find the enclosing 2D bouding box of the given cluster

Parameters

indices	Cluster indices in the pointcloud
cloud	Input pointcloud pointer.

Returns: Eigen vector of (x,y,x2,y2) bouding box.

template<typename T >

static T utils::PclUtils< T >::findNearestNonNan	(	typename PclCloud::Ptr &	cloud,
		int	cx,
		int	cy
	)

inlinestatic

Finds the closest Non-NaN point around the given location. Searches for the NonNan point in a circular way by increasing radius on each iteration.

Parameters

cloud	Input pointcloud pointer.
cx	Center point x-value.
cy	Center point y-value.

Returns: The closest point.

template<typename T >

static pcl::visualization::PCLVisualizer::Ptr utils::PclUtils< T >::pclViewer ( )

inlinestatic

Creates a PCL Visualizer with general settings such as black background and added coordinate system (xyz axes).

Returns: Created PCL Visualizer

template<typename T >

static pcl::visualization::PCLVisualizer::Ptr utils::PclUtils< T >::pclViewer ( typename PclCloud::Ptr & cloud )

inlinestatic

Creates a PCL Visualizer with the input cloud added in it.

template<typename T >

static void utils::PclUtils< T >::segmentPlane	(	typename PclCloud::Ptr &	cloud,
		pcl::ModelCoefficients::Ptr &	coeff,
		pcl::PointIndices::Ptr &	inliers
	)

inlinestatic

Fits a plane in the given pointcloud using RANSAC.

Parameters

cloud	Input pointcloud pointer.
coeff	Output plane coefficients of the fitten plane.
inliers	Output point indices of the inlier points.

template<typename T >

static void utils::PclUtils< T >::showCloud ( typename PclCloud::Ptr & cloud )

inlinestatic

Opens the PCL Visualizer and shows up the given point cloud.

Parameters

cloud The input pointcloud pointer

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

src/pcl_utils.h

Static Public Member Functions

Detailed Description

template<typename T> class utils::PclUtils< T >

Member Function Documentation

template<typename T>
class utils::PclUtils< T >