ground_segmentation::ProcessCloudProcessor< PointT > Class Template Reference

#include <pointcloud_processor.hpp>

Public Member Functions
pcl::PointCloud< PointT >::Ptr	filterCloud (typename pcl::PointCloud< PointT >::Ptr cloud, bool downSampleInputCloud, float filterRes, Eigen::Vector4f minPoint, Eigen::Vector4f maxPoint, bool invertCropBox)
std::vector< typename pcl::PointCloud< PointT >::Ptr >	euclideanClustering (typename pcl::PointCloud< PointT >::Ptr cloud, float clusterTolerance, int minSize, int maxSize)
void	savePcd (typename pcl::PointCloud< PointT >::Ptr cloud, std::string file)
pcl::PointCloud< PointT >::Ptr	loadPcd (std::string file)

Detailed Description

template<typename PointT>
class ground_segmentation::ProcessCloudProcessor< PointT >

Definition at line 35 of file pointcloud_processor.hpp.

Member Function Documentation

euclideanClustering()

template<typename PointT >

std::vector< typename pcl::PointCloud< PointT >::Ptr > ground_segmentation::ProcessCloudProcessor< PointT >::euclideanClustering	(	typename pcl::PointCloud< PointT >::Ptr	cloud,
		float	clusterTolerance,
		int	minSize,
		int	maxSize
	)

Definition at line 83 of file pointcloud_processor.hpp.

{
  std::vector<typename pcl::PointCloud<PointT>::Ptr> clusters;
  typename pcl::search::KdTree<PointT>::Ptr tree(new pcl::search::KdTree<PointT>);
  tree->setInputCloud(cloud);
 
  std::vector<pcl::PointIndices> cluster_indices;
  pcl::EuclideanClusterExtraction<PointT> ec;
  ec.setClusterTolerance(clusterTolerance);
  ec.setMinClusterSize(minSize);
  ec.setMaxClusterSize(maxSize);
  ec.setSearchMethod(tree);
  ec.setInputCloud(cloud);
  ec.extract(cluster_indices);
 
  for (const auto & cluster : cluster_indices) {
    typename pcl::PointCloud<PointT>::Ptr cloud_cluster(new pcl::PointCloud<PointT>);
    for (const auto & idx : cluster.indices) {
      cloud_cluster->push_back((*cloud)[idx]);
    }
    cloud_cluster->width = cloud_cluster->size();
    cloud_cluster->height = 1;
    cloud_cluster->is_dense = true;
    clusters.push_back(cloud_cluster);
  }
  return clusters;
}

filterCloud()

template<typename PointT >

pcl::PointCloud< PointT >::Ptr ground_segmentation::ProcessCloudProcessor< PointT >::filterCloud	(	typename pcl::PointCloud< PointT >::Ptr	cloud,
		bool	downSampleInputCloud,
		float	filterRes,
		Eigen::Vector4f	minPoint,
		Eigen::Vector4f	maxPoint,
		bool	invertCropBox
	)

Definition at line 54 of file pointcloud_processor.hpp.

{
  typename pcl::PointCloud<PointT>::Ptr cloud_filtered(new pcl::PointCloud<PointT>());
  pcl::CropBox<PointT> roi;
  roi.setMin(minPoint);
  roi.setMax(maxPoint);
  roi.setNegative(invertCropBox);
 
  if (downSampleInputCloud) {
    pcl::VoxelGrid<PointT> sor;
    sor.setInputCloud(cloud);
    sor.setLeafSize(filterRes, filterRes, filterRes);
    sor.filter(*cloud_filtered);
    roi.setInputCloud(cloud_filtered);
  } else {
    roi.setInputCloud(cloud);
  }
  roi.filter(*cloud_filtered);
  return cloud_filtered;
}

loadPcd()

template<typename PointT >

pcl::PointCloud< PointT >::Ptr ground_segmentation::ProcessCloudProcessor< PointT >::loadPcd

(

std::string

file

)

Definition at line 123 of file pointcloud_processor.hpp.

{
  typename pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>);
  if (pcl::io::loadPCDFile<PointT>(file, *cloud) == -1) {    //* load the file
    std::cerr << "Failed to read PCD file: " << file << std::endl;
  }
  return cloud;
}

savePcd()

template<typename PointT >

void ground_segmentation::ProcessCloudProcessor< PointT >::savePcd	(	typename pcl::PointCloud< PointT >::Ptr	cloud,
		std::string	file
	)

Definition at line 115 of file pointcloud_processor.hpp.

{
  pcl::io::savePCDFileASCII(file, *cloud);
}

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

• /home/runner/work/ground_segmentation/ground_segmentation/include/pointcloud_processor.hpp