PCL ROS Wrapper

Doxygen

A wrapper around some of useful Point Cloud Library (PCL) components.
Useful in combination with ROS messages such as sensor_msgs/PointCloud2.

Dependencies

Depends, of course, on PCL. Install as follows:

sudo apt install libpcl-dev

Documentation

Documentation can be found at lmark1.github.io/pcl_ros_wrapper.

Description

A brief description of wrapped components.

Common

• general.hpp - Contains useful functions for handling pointclouds (e.g. load, save, convert, etc.)
• surface.hpp - Contains useful functions dealing with surface-based methods (e.g. concave/convex hull, normal estimation, etc.)

Registration

• icp.hpp - Provides useful function for aligning point clouds using the Iterative Closest Point Method (ICP)

Filters

• crop_box.hpp - Wrapper around the CropBox filter
• voxel.hpp - Wrapper around the VoxelGrid filter
• outlier.hpp - Wrapper around the StatisticalOutlierFilter
• upsampling.hpp - Useful functions for upsampling pointclouds

Segmentation

• sac.hpp - Useful wrappers around the Sample Consesus methods (e.g. plane detection, clustering, etc.)