A point cloud which keeps track of its reference coordinate frame and allows changing frames using armarx::FramedPose.
More...
#include <VisionX/components/pointcloud_processor/PointCloudFilter/PointCloudFilter.h>
Public Types | |
| using | PointCloudPtrT = typename PointCloudT::Ptr |
| using | PointCloudT = pcl::PointCloud< PointT > |
| using | PointT = _PointT |
Public Member Functions | |
| void | changeFrame (const std::string &newFrame, const VirtualRobot::RobotPtr &robot) |
| Transform the point cloud from the current frame to the new frame using the given reference robot. More... | |
| FramedPointCloud ()=default | |
| Construct an empty point cloud in global frame. More... | |
| FramedPointCloud (const std::string &frameName) | |
| Construct an empty point cloud residing in given frame. More... | |
| FramedPointCloud (PointCloudPtrT pointCloudPtr) | |
| Construct a framed point cloud managing given point cloud in global frame. More... | |
| FramedPointCloud (PointCloudPtrT pointCloudPtr, const std::string &frameName) | |
| Construct a framed point cloud managing given point cloud residing in given frame. More... | |
| std::string | getFrame () const |
| Get the current frame. More... | |
| armarx::FramedPose | getFramedPose (const std::string &agentName) const |
Get the current pose as FramedPose. More... | |
| armarx::FramedPose | getFramedPose (const VirtualRobot::RobotPtr &robot) const |
| Eigen::Matrix4f | getGlobalPose (const VirtualRobot::RobotPtr &robot) const |
| Get the current global pose. More... | |
| void | setFrameWithoutTransformation (const std::string &f) |
| void | transformBy (const Eigen::Matrix4f &transform) |
Public Attributes | |
| PointCloudPtrT | cloud { new PointCloudT() } |
| The point cloud. More... | |
Detailed Description
template<class _PointT>
class visionx::FramedPointCloud< _PointT >
A point cloud which keeps track of its reference coordinate frame and allows changing frames using armarx::FramedPose.
Definition at line 59 of file PointCloudFilter.h.
Member Typedef Documentation
◆ PointCloudPtrT
| using PointCloudPtrT = typename PointCloudT::Ptr |
Definition at line 42 of file FramedPointCloud.h.
◆ PointCloudT
| using PointCloudT = pcl::PointCloud<PointT> |
Definition at line 41 of file FramedPointCloud.h.
◆ PointT
| using PointT = _PointT |
Definition at line 40 of file FramedPointCloud.h.
Constructor & Destructor Documentation
◆ FramedPointCloud() [1/4]
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default |
Construct an empty point cloud in global frame.
◆ FramedPointCloud() [2/4]
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inline |
Construct an empty point cloud residing in given frame.
Definition at line 50 of file FramedPointCloud.h.
◆ FramedPointCloud() [3/4]
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inline |
Construct a framed point cloud managing given point cloud in global frame.
Definition at line 55 of file FramedPointCloud.h.
◆ FramedPointCloud() [4/4]
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inline |
Construct a framed point cloud managing given point cloud residing in given frame.
Definition at line 60 of file FramedPointCloud.h.
Member Function Documentation
◆ changeFrame()
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inline |
Transform the point cloud from the current frame to the new frame using the given reference robot.
Definition at line 92 of file FramedPointCloud.h.
Here is the caller graph for this function:◆ getFrame()
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inline |
Get the current frame.
Definition at line 66 of file FramedPointCloud.h.
Here is the caller graph for this function:◆ getFramedPose() [1/2]
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inline |
Get the current pose as FramedPose.
Definition at line 76 of file FramedPointCloud.h.
Here is the call graph for this function: Here is the caller graph for this function:◆ getFramedPose() [2/2]
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inline |
◆ getGlobalPose()
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inline |
Get the current global pose.
Definition at line 86 of file FramedPointCloud.h.
Here is the call graph for this function: Here is the caller graph for this function:◆ setFrameWithoutTransformation()
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inline |
◆ transformBy()
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inline |
Definition at line 98 of file FramedPointCloud.h.
Here is the call graph for this function: Here is the caller graph for this function:Member Data Documentation
◆ cloud
| PointCloudPtrT cloud { new PointCloudT() } |
The point cloud.
Definition at line 105 of file FramedPointCloud.h.
The documentation for this class was generated from the following files:
- VisionX/components/pointcloud_processor/PointCloudFilter/PointCloudFilter.h
- VisionX/libraries/PointCloudTools/FramedPointCloud.h
