Point Cloud Library (PCL) 1.15.0
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generate.h
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39
40#pragma once
41
42#include <pcl/point_cloud.h>
43#include <pcl/point_types.h>
44#include <pcl/common/random.h>
45
46namespace pcl
47{
48
49 namespace common
50 {
51 /** \brief CloudGenerator class generates a point cloud using some random number generator.
52 * Generators can be found in \file common/random.h and easily extensible.
53 *
54 * \ingroup common
55 * \author Nizar Sallem
56 */
57 template <typename PointT, typename GeneratorT>
59 {
60 public:
61 using GeneratorParameters = typename GeneratorT::Parameters;
62
63 /// Default constructor
65
66 /** Constructor with single generator to ensure all X, Y and Z values are within same range
67 * \param params parameters for X, Y and Z values generation. Uniqueness is ensured through
68 * seed incrementation
69 */
70 CloudGenerator (const GeneratorParameters& params);
71
72 /** Constructor with independent generators per axis
73 * \param x_params parameters for x values generation
74 * \param y_params parameters for y values generation
75 * \param z_params parameters for z values generation
76 */
77 CloudGenerator (const GeneratorParameters& x_params,
78 const GeneratorParameters& y_params,
79 const GeneratorParameters& z_params);
80
81 /** Set parameters for x, y and z values. Uniqueness is ensured through seed incrementation.
82 * \param params parameters for X, Y and Z values generation.
83 */
84 void
85 setParameters (const GeneratorParameters& params);
86
87 /** Set parameters for x values generation
88 * \param x_params parameters for x values generation
89 */
90 void
91 setParametersForX (const GeneratorParameters& x_params);
92
93 /** Set parameters for y values generation
94 * \param y_params parameters for y values generation
95 */
96 void
97 setParametersForY (const GeneratorParameters& y_params);
98
99 /** Set parameters for z values generation
100 * \param z_params parameters for z values generation
101 */
102 void
103 setParametersForZ (const GeneratorParameters& z_params);
104
105 /// \return x values generation parameters
106 const GeneratorParameters&
107 getParametersForX () const;
108
109 /// \return y values generation parameters
110 const GeneratorParameters&
111 getParametersForY () const;
112
113 /// \return z values generation parameters
114 const GeneratorParameters&
115 getParametersForZ () const;
116
117 /// \return a single random generated point
118 PointT
119 get ();
120
121 /** Generates a cloud with X Y Z picked within given ranges. This function assumes that
122 * cloud is properly defined else it raises errors and does nothing.
123 * \param[out] cloud cloud to generate coordinates for
124 * \return 0 if generation went well else -1.
125 */
126 int
128
129 /** Generates a cloud of specified dimensions with X Y Z picked within given ranges.
130 * \param[in] width width of generated cloud
131 * \param[in] height height of generated cloud
132 * \param[out] cloud output cloud
133 * \return 0 if generation went well else -1.
134 */
135 int
136 fill (int width, int height, pcl::PointCloud<PointT>& cloud);
137
138 private:
139 GeneratorT x_generator_, y_generator_, z_generator_;
140 };
141
142 template <typename GeneratorT>
143 class CloudGenerator<pcl::PointXY, GeneratorT>
144 {
145 public:
146 using GeneratorParameters = typename GeneratorT::Parameters;
147
149
150 CloudGenerator (const GeneratorParameters& params);
151
152 CloudGenerator (const GeneratorParameters& x_params,
153 const GeneratorParameters& y_params);
154
155 void
156 setParameters (const GeneratorParameters& params);
157
158 void
159 setParametersForX (const GeneratorParameters& x_params);
160
161 void
162 setParametersForY (const GeneratorParameters& y_params);
163
164 const GeneratorParameters&
165 getParametersForX () const;
166
167 const GeneratorParameters&
168 getParametersForY () const;
169
171 get ();
172
173 int
175
176 int
177 fill (int width, int height, pcl::PointCloud<pcl::PointXY>& cloud);
178
179 private:
180 GeneratorT x_generator_;
181 GeneratorT y_generator_;
182 };
183 }
184}
185
186#include <pcl/common/impl/generate.hpp>
PointCloud represents the base class in PCL for storing collections of 3D points.
typename GeneratorT::Parameters GeneratorParameters
Definition generate.h:146
int fill(pcl::PointCloud< PointT > &cloud)
Generates a cloud with X Y Z picked within given ranges.
Definition generate.hpp:144
const GeneratorParameters & getParametersForX() const
Definition generate.hpp:112
void setParametersForY(const GeneratorParameters &y_params)
Set parameters for y values generation.
Definition generate.hpp:98
const GeneratorParameters & getParametersForY() const
Definition generate.hpp:119
void setParametersForZ(const GeneratorParameters &z_params)
Set parameters for z values generation.
Definition generate.hpp:105
void setParameters(const GeneratorParameters &params)
Set parameters for x, y and z values.
Definition generate.hpp:78
typename GeneratorT::Parameters GeneratorParameters
Definition generate.h:61
void setParametersForX(const GeneratorParameters &x_params)
Set parameters for x values generation.
Definition generate.hpp:91
const GeneratorParameters & getParametersForZ() const
Definition generate.hpp:126
CloudGenerator()
Default constructor.
Definition generate.hpp:53
Defines all the PCL implemented PointT point type structures.
CloudGenerator class generates a point cloud using some random number generator.
A 2D point structure representing Euclidean xy coordinates.
A point structure representing Euclidean xyz coordinates, and the RGB color.