depth_map_preprocessing::PointCloudConversion Class Reference

#include <PointCloudConversion.hpp>

Public Types
typedef std::vector< Eigen::Affine3d, Eigen::aligned_allocator< Eigen::Affine3d > >	TransformationVector

Static Public Member Functions
template<class T >
static bool	convertToPointCloud (const base::samples::DepthMap &depth_map_sample, const TransformationVector &depth_map_transforms, MotionCompensation motion_compensation, std::vector< T > &pointcloud)
static void	computeLocalTransfromations (const TransformationVector &transformations, TransformationVector &laserLinesInLatestLine)

Member Typedef Documentation

TransformationVector

typedef std::vector<Eigen::Affine3d, Eigen::aligned_allocator<Eigen::Affine3d> > depth_map_preprocessing::PointCloudConversion::TransformationVector

Member Function Documentation

computeLocalTransfromations()

void PointCloudConversion::computeLocalTransfromations ( const TransformationVector &  transformations, PointCloudConversion::TransformationVector &  laserLinesToLatestLine  )

static

Helper method to compute the relative transformations inside of one scan. Computes transformations[i] expressed in transformations[last]. It ensures |transformations| == |laserLinesInLatestLine|, therefore the last transformation is allways the Identity.

Parameters

transformations	laser lines in reference frame
laserLinesInLatestLine	laser lines in frame of last line

convertToPointCloud()

template<class T >

bool depth_map_preprocessing::PointCloudConversion::convertToPointCloud ( const base::samples::DepthMap &  depth_map_sample, const TransformationVector &  depth_map_transforms, MotionCompensation  motion_compensation, std::vector< T > &  pointcloud  )

static

Converts the given sample to a pointcloud while applying the selected motion compensation option.

Parameters

depth_map_sample	input
depth_map_transforms	Either two for interpolation or |horizontal| or |vertical| transforms
motion_compensation	type of compensation
pointcloud	output

Returns

false on invalid input

---

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

• /build/rock-master-18.09-perception-depth-map-preprocessing-0.20170919/src/PointCloudConversion.hpp
• /build/rock-master-18.09-perception-depth-map-preprocessing-0.20170919/src/PointCloudConversion.cpp