cpp_library.md

C++ Library

Classes and structs

BoundingBox2D

Struct containing info relevant to a bounding box in RGB images. Used for visualization functions and point cloud utilities. Python interface described in documentation for the python package. Defined in:

• bounding_box_2d.h
• bounding_box_2d.cpp

BoundingBox

Create a bounding box with 4 3D points as vertices given a point cloud and a plane normal. Defined in:

• bounding_box.h
• bounding_box.cpp

BoundingBoxWrapper

Boost Python port of BoundingBox. Python interface described in documentation for the python package. Defined in:

• bounding_box_wrapper.h
• bounding_box_wrapper.cpp

SacPlaneSegmenter

Utilize PCL sample consensus (SAC) algorithm for plane fitting. Defined in:

• sac_plane_segmenter.h

CloudFilter

Utilize PCL pass-through and voxel filter algorithms for downsampling pointclouds.

• point_cloud_utils.h

PlaneSegmenterROS

ROS interface for both CloudFilter and PlaneSegmenterROS for segmenting plane(s) from sensor_msgs/PointCLoud2 messages. Defined in:

• point_cloud_utils_ros.h

Utilities

ROS message serialization

Contains method to serialize and deserialize ROS messages, for passing them between C++ and Python code. Defined in ros_message_serialization.hpp.

Boost Python conversion between cv::Mat and NumPy array

Boost conversion between NumPy array, seen in C++ code as PyObject *, and cv::Mat can be done using functions pbcvt::fromMatToNDArray and pbcvt::fromNDArrayToMat. These are defined in:

• pyboostcvconverter.hpp
• pyboost_cv3_converter.cpp

Visualization utilities

• Functions to draw bounding boxes on images and image messages are defined in:
  • bounding_box_2d.cpp
  • bounding_box_2d.h
  • image_bounding_box.h
  • image_bounding_box.cpp
• Functions to fit bounding boxes to image sizes are defined in:
  • bounding_box_2d.cpp
  • bounding_box_2d.h
• Function to create a visualization_msgs/Marker message of the plane's convex hull from a mas_perception_msgs/Plane.msg message. Defined in:
  • point_cloud_utils_ros.h
  • point_cloud_utils_ros.cpp

Point cloud utilites

Functions to crop point clouds or to extract images and coordinates from point clouds are defined in:

• point_cloud_utils_ros.h
• point_cloud_utils_ros.cpp