pcl-utils

Utility functions for PCL Library.

Using C++ PCL library introduces a lot of boilerplate code. Most of the operations requires redundant parameters. This utility functions helps to write easy and clean code to use PCL.

Usage

Basic usage is shown below. There are a lot more utility functions inside pcl-utils.

{c++}

#include "pcl_utils.h"

int main() {
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;

    // Show point cloud in PCLViewer
    utils::PclUtils<pcl::PointXYZ>::showCloud(cloud);

    // If same point type is being used, it is good to have an alias
    typedef utils::PclUtils<pcl::PointXYZ> PclUtils;

    // Downsample pointcloud using VoxelGrid
    PclUtils::downsample(cloud, cloud, 0.007f);

    return 0;
}