Point Cloud Library (PCL)  1.9.1-dev
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 
46 namespace pcl
47 {
48 
49  namespace common
50  {
51  /** \brief CloudGenerator class generates a point cloud using some randoom 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
64  CloudGenerator ();
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 parameteres 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
127  fill (pcl::PointCloud<PointT>& cloud);
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 
148  CloudGenerator ();
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>
const GeneratorParameters & getParametersForZ() const
Definition: generate.hpp:121
void setParametersForX(const GeneratorParameters &x_params)
Set parameters for x values generation.
Definition: generate.hpp:86
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
const GeneratorParameters & getParametersForY() const
Definition: generate.hpp:114
A 2D point structure representing Euclidean xy coordinates.
typename GeneratorT::Parameters GeneratorParameters
Definition: generate.h:146
Defines all the PCL implemented PointT point type structures.
CloudGenerator()
Default constructor.
Definition: generate.hpp:47
PointCloud represents the base class in PCL for storing collections of 3D points. ...
void setParametersForY(const GeneratorParameters &y_params)
Set parameters for y values generation.
Definition: generate.hpp:93
const GeneratorParameters & getParametersForX() const
Definition: generate.hpp:107
void setParameters(const GeneratorParameters &params)
Set parameters for x, y and z values.
Definition: generate.hpp:73
typename GeneratorT::Parameters GeneratorParameters
Definition: generate.h:61
CloudGenerator class generates a point cloud using some randoom number generator. ...
void setParametersForZ(const GeneratorParameters &z_params)
Set parameters for z values generation.
Definition: generate.hpp:100
A point structure representing Euclidean xyz coordinates, and the RGB color.
int fill(pcl::PointCloud< PointT > &cloud)
Generates a cloud with X Y Z picked within given ranges.
Definition: generate.hpp:139