YarpCloudUtils

Collection of cloud-related utilities for YARP. More...

Namespaces
namespace	roboticslab::YarpCloudUtils
	Collection of cloud-related utilities for YARP.

Functions
template<typename T >
bool	roboticslab::YarpCloudUtils::savePLY (const std::string &filename, const yarp::sig::PointCloud< T > &cloud, const yarp::sig::VectorOf< int > &indices, bool isBinary=true)
	Writes a triangular polygon mesh to file.
template<typename T >
bool	roboticslab::YarpCloudUtils::savePLY (const std::string &filename, const yarp::sig::PointCloud< T > &cloud, bool isBinary=true)
	Writes a point cloud to file.
template<typename T >
bool	roboticslab::YarpCloudUtils::loadPLY (const std::string &filename, yarp::sig::PointCloud< T > &cloud, yarp::sig::VectorOf< int > &indices)
	Reads a triangular polygon mesh from file.
template<typename T >
bool	roboticslab::YarpCloudUtils::loadPLY (const std::string &filename, yarp::sig::PointCloud< T > &cloud)
	Reads a point cloud from file.
template<typename T1 , typename T2 >
bool	roboticslab::YarpCloudUtils::meshFromCloud (const yarp::sig::PointCloud< T1 > &cloud, yarp::sig::PointCloud< T2 > &meshPoints, yarp::sig::VectorOf< int > &meshIndices, const yarp::sig::VectorOf< yarp::os::Property > &options)
	Constructs a triangular polygon mesh from a point cloud.
template<typename T1 , typename T2 >
bool	roboticslab::YarpCloudUtils::meshFromCloud (const yarp::sig::PointCloud< T1 > &cloud, yarp::sig::PointCloud< T2 > &meshPoints, yarp::sig::VectorOf< int > &meshIndices, const yarp::os::Searchable &config, const std::string &collection="meshPipeline")
	Constructs a triangular polygon mesh from a point cloud.
template<typename T1 , typename T2 >
bool	roboticslab::YarpCloudUtils::processCloud (const yarp::sig::PointCloud< T1 > &in, yarp::sig::PointCloud< T2 > &out, const yarp::sig::VectorOf< yarp::os::Property > &options)
	Processes a cloud of points.
template<typename T1 , typename T2 >
bool	roboticslab::YarpCloudUtils::processCloud (const yarp::sig::PointCloud< T1 > &in, yarp::sig::PointCloud< T2 > &out, const yarp::os::Searchable &config, const std::string &collection="cloudPipeline")
	Processes a cloud of points.

Detailed Description

See also

Instructions.

[1]

Function Documentation

loadPLY() [1/2]

template<typename T >

bool roboticslab::YarpCloudUtils::loadPLY	(	const std::string &	filename,
		yarp::sig::PointCloud< T > &	cloud
	)

Note

Failure is reported if required fields are missing, depending on the requested point type. Optional fields are alpha (RGBA types) and curvature (normal types).

Parameters

filename	Path to a file with .ply extension.
cloud	Cloud of vertices.

Returns

Whether the cloud has been successfully imported or not.

loadPLY() [2/2]

template<typename T >

bool roboticslab::YarpCloudUtils::loadPLY	(	const std::string &	filename,
		yarp::sig::PointCloud< T > &	cloud,
		yarp::sig::VectorOf< int > &	indices
	)

Note

Failure is reported if required fields are missing, depending on the requested point type. Optional fields are alpha (RGBA types) and curvature (normal types).

Parameters

filename	Path to a file with .ply extension.
cloud	Cloud of vertices.
indices	Vector of indices, each three consecutive values define a face.

Returns

Whether the mesh has been successfully imported or not.

meshFromCloud() [1/2]

template<typename T1 , typename T2 >

bool roboticslab::YarpCloudUtils::meshFromCloud	(	const yarp::sig::PointCloud< T1 > &	cloud,
		yarp::sig::PointCloud< T2 > &	meshPoints,
		yarp::sig::VectorOf< int > &	meshIndices,
		const yarp::os::Searchable &	config,
		const std::string &	collection = "meshPipeline"
	)

Note

Implements a set of PCL algorithms. Refer to instructions.

Parameters

cloud	Input cloud.
meshPoints	Cloud of vertices of the resulting polygon mesh.
meshIndices	Vector if indices of the resulting polygon mesh, each three consecutive values define a face.
config	Configuration in YARP native format to read the pipeline from.
collection	Named section collection that identifies this pipeline in config.

Returns

Whether any failure occurred throughout the pipeline.

meshFromCloud() [2/2]

template<typename T1 , typename T2 >

bool roboticslab::YarpCloudUtils::meshFromCloud	(	const yarp::sig::PointCloud< T1 > &	cloud,
		yarp::sig::PointCloud< T2 > &	meshPoints,
		yarp::sig::VectorOf< int > &	meshIndices,
		const yarp::sig::VectorOf< yarp::os::Property > &	options
	)

Note

Implements a set of PCL algorithms. Refer to instructions.

Parameters

cloud	Input cloud.
meshPoints	Cloud of vertices of the resulting polygon mesh.
meshIndices	Vector if indices of the resulting polygon mesh, each three consecutive values define a face.
options	Vector of dictionaries, each element defines a step of the pipeline.

Returns

Whether any failure occurred throughout the pipeline.

processCloud() [1/2]

template<typename T1 , typename T2 >

bool roboticslab::YarpCloudUtils::processCloud	(	const yarp::sig::PointCloud< T1 > &	in,
		yarp::sig::PointCloud< T2 > &	out,
		const yarp::os::Searchable &	config,
		const std::string &	collection = "cloudPipeline"
	)

Note

Implements a set of PCL algorithms. Refer to instructions.

Parameters

cloud	Input cloud.
meshPoints	Cloud of vertices of the resulting polygon mesh.
meshIndices	Vector if indices of the resulting polygon mesh, each three consecutive values define a face.
config	Configuration in YARP native format to read the pipeline from.
collection	Named section collection that identifies this pipeline in config.

Returns

Whether any failure occurred throughout the pipeline.

processCloud() [2/2]

template<typename T1 , typename T2 >

bool roboticslab::YarpCloudUtils::processCloud	(	const yarp::sig::PointCloud< T1 > &	in,
		yarp::sig::PointCloud< T2 > &	out,
		const yarp::sig::VectorOf< yarp::os::Property > &	options
	)

Note

Implements a set of PCL algorithms. Refer to instructions.

Parameters

cloud	Input cloud.
meshPoints	Cloud of vertices of the resulting polygon mesh.
meshIndices	Vector if indices of the resulting polygon mesh, each three consecutive values define a face.
options	Vector of dictionaries, each element defines a step of the pipeline.

Returns

Whether any failure occurred throughout the pipeline.

savePLY() [1/2]

template<typename T >

bool roboticslab::YarpCloudUtils::savePLY	(	const std::string &	filename,
		const yarp::sig::PointCloud< T > &	cloud,
		bool	isBinary = true
	)

Parameters

filename	Path to a file with .ply extension.
cloud	Cloud of points.
isBinary	Whether to save file with binary format or not.

Returns

Whether the cloud has been successfully exported or not.

savePLY() [2/2]

template<typename T >

bool roboticslab::YarpCloudUtils::savePLY	(	const std::string &	filename,
		const yarp::sig::PointCloud< T > &	cloud,
		const yarp::sig::VectorOf< int > &	indices,
		bool	isBinary = true
	)

Parameters

filename	Path to a file with .ply extension.
cloud	Cloud of vertices.
indices	Vector of indices, each three consecutive values define a face.
isBinary	Whether to save file with binary format or not.

Returns

Whether the mesh has been successfully exported or not.