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Introduce transformPointCloud(WithNormals)
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@PeterBowman
PeterBowman committed Dec 15, 2020
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72 changes: 37 additions & 35 deletions libraries/YarpCloudUtils/README.md
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Expand Up @@ -28,41 +28,43 @@ Both `roboticslab::YarpCloudUtils::meshFromCloud` and `roboticslab::YarpCloudUti
implement a set of [Point Cloud Library (PCL)](https://pointclouds.org/) algorithms.
A variety of PCL classes are exposed in a highly configurable pipeline:

| PCL class | usage | point types | notes |
|-------------------------------------------------------------------------------------------------------------------------------------------------------|------------------------|---------------------------|------------------------------|
| [`pcl::ApproximateVoxelGrid`](https://pointclouds.org/documentation/classpcl_1_1_approximate_voxel_grid.html) | cloud resampling | any | |
| [`pcl::BilateralFilter`](https://pointclouds.org/documentation/classpcl_1_1_bilateral_filter.html) | cloud filtering | XYZI(Normal) | |
| [`pcl::BilateralUpsampling`](https://pointclouds.org/documentation/classpcl_1_1_bilateral_upsampling.html) | cloud processing | XYZRGBA | organized clouds only |
| [`pcl::ConcaveHull`](https://pointclouds.org/documentation/classpcl_1_1_concave_hull.html) | mesh construction | any | |
| [`pcl::ConvexHull`](https://pointclouds.org/documentation/classpcl_1_1_convex_hull.html) | mesh construction | any | |
| [`pcl::CropBox`](https://pointclouds.org/documentation/classpcl_1_1_crop_box.html) | cloud filtering | any | |
| [`pcl::FastBilateralFilter`](https://pointclouds.org/documentation/classpcl_1_1_fast_bilateral_filter.html) | cloud filtering | XYZ(RGBA) | organized clouds only |
| [`pcl::FastBilateralFilterOMP`](https://pointclouds.org/documentation/classpcl_1_1_fast_bilateral_filter_o_m_p.html) | cloud filtering | XYZ(RGBA) | organized clouds only |
| [`pcl::GreedyProjectionTriangulation`](https://pointclouds.org/documentation/classpcl_1_1_greedy_projection_triangulation.html) | mesh construction | XYZ/XYZI/XYZRGBA + Normal | |
| [`pcl::GridMinimum`](https://pointclouds.org/documentation/classpcl_1_1_grid_minimum.html) | cloud resampling | any | |
| [ `pcl::GridProjection` ](https://pointclouds.org/documentation/classpcl_1_1_grid_projection.html) | surface reconstruction | XYZ/XYZI/XYZRGBA + Normal | |
| [`pcl::LocalMaximum`](https://pointclouds.org/documentation/classpcl_1_1_local_maximum.html) | cloud resampling | any | |
| [`pcl::MarchingCubesHoppe`](https://pointclouds.org/documentation/classpcl_1_1_marching_cubes_hoppe.html) | surface reconstruction | XYZ/XYZI/XYZRGBA + Normal | |
| [`pcl::MarchingCubesRBF`](https://pointclouds.org/documentation/classpcl_1_1_marching_cubes_r_b_f.html) | surface reconstruction | XYZ/XYZI/XYZRGBA + Normal | |
| [`pcl::MedianFilter`](https://pointclouds.org/documentation/classpcl_1_1_median_filter.html) | cloud filtering | any | organized clouds only |
| [`pcl::MeshQuadricDecimationVTK`](https://pointclouds.org/documentation/classpcl_1_1_mesh_quadric_decimation_v_t_k.html) | mesh processing | (mesh) | |
| [`pcl::MeshSmoothingLaplacianVTK`](https://pointclouds.org/documentation/classpcl_1_1_mesh_smoothing_laplacian_v_t_k.html) | mesh processing | (mesh) | |
| [`pcl::MeshSmoothingWindowedSincVTK`](https://pointclouds.org/documentation/classpcl_1_1_mesh_smoothing_windowed_sinc_v_t_k.html) | mesh processing | (mesh) | |
| [`pcl::MeshSubdivisionVTK`](https://pointclouds.org/documentation/classpcl_1_1_mesh_subdivision_v_t_k.html) | mesh processing | (mesh) | |
| [`pcl::MovingLeastSquares`](https://pointclouds.org/documentation/classpcl_1_1_moving_least_squares.html) | cloud processing | any | requires PCL 1.9+ |
| [`pcl::NormalEstimation`](https://pointclouds.org/documentation/classpcl_1_1_normal_estimation.html) | normal estimation | any | |
| [`pcl::NormalEstimationOMP`](https://pointclouds.org/documentation/classpcl_1_1_normal_estimation_o_m_p.html) | normal estimation | any | |
| [`pcl::OrganizedFastMesh`](https://pointclouds.org/documentation/classpcl_1_1_organized_fast_mesh.html) | mesh construction | XYZ(RGBA) | organized clouds only |
| [`pcl::PassThrough`](https://pointclouds.org/documentation/classpcl_1_1_pass_through.html) | cloud filtering | any | |
| [`pcl::Poisson`](https://pointclouds.org/documentation/classpcl_1_1_poisson.html) | surface reconstruction | XYZ/XYZI/XYZRGBA + Normal | `threads` requires PCL 1.12+ |
| [`pcl::RadiusOutlierRemoval`](https://pointclouds.org/documentation/classpcl_1_1_radius_outlier_removal.html) | cloud filtering | any | |
| [`pcl::RandomSample`](https://pointclouds.org/documentation/classpcl_1_1_random_sample.html) | cloud resampling | any | |
| [`pcl::SamplingSurfaceNormal`](https://pointclouds.org/documentation/classpcl_1_1_sampling_surface_normal.html) | cloud resampling | XYZ/XYZI/XYZRGBA + Normal | |
| [`pcl::ShadowPoints`](https://pointclouds.org/documentation/classpcl_1_1_shadow_points.html) | cloud filtering | any normal type | only normal types |
| [`pcl::SimplificationRemoveUnusedVertices`](https://pointclouds.org/documentation/classpcl_1_1surface_1_1_simplification_remove_unused_vertices.html) | mesh simplification | (mesh) | |
| [`pcl::StatisticalOutlierRemoval`](https://pointclouds.org/documentation/classpcl_1_1_statistical_outlier_removal.html) | cloud filtering | any | |
| [`pcl::UniformSampling`](https://pointclouds.org/documentation/classpcl_1_1_uniform_sampling.html) | cloud resampling | any | |
| [`pcl::VoxelGrid`](https://pointclouds.org/documentation/classpcl_1_1_voxel_grid.html) | cloud resampling | any | |
| PCL class | usage | point types | notes |
|-------------------------------------------------------------------------------------------------------------------------------------------------------|------------------------|---------------------------|--------------------------------------------------------------------|
| [`pcl::transformPointCloud`](https://pointclouds.org/documentation/group__common.html#gac841d05d13c925f3a3a8090d9d7ff24d) | affine transformation | any | `translation` (meters) and `rotation` (scaled axis-angle, radians) |
| [`pcl::transformPointCloudWithNormals`](https://pointclouds.org/documentation/group__common.html#ga01dcf9e24dec3109a0c8a8b8f2e24bcc) | affine transformation | any normal type | see above |
| [`pcl::ApproximateVoxelGrid`](https://pointclouds.org/documentation/classpcl_1_1_approximate_voxel_grid.html) | cloud resampling | any | |
| [`pcl::BilateralFilter`](https://pointclouds.org/documentation/classpcl_1_1_bilateral_filter.html) | cloud filtering | XYZI(Normal) | |
| [`pcl::BilateralUpsampling`](https://pointclouds.org/documentation/classpcl_1_1_bilateral_upsampling.html) | cloud processing | XYZRGBA | organized clouds only |
| [`pcl::ConcaveHull`](https://pointclouds.org/documentation/classpcl_1_1_concave_hull.html) | mesh construction | any | |
| [`pcl::ConvexHull`](https://pointclouds.org/documentation/classpcl_1_1_convex_hull.html) | mesh construction | any | |
| [`pcl::CropBox`](https://pointclouds.org/documentation/classpcl_1_1_crop_box.html) | cloud filtering | any | |
| [`pcl::FastBilateralFilter`](https://pointclouds.org/documentation/classpcl_1_1_fast_bilateral_filter.html) | cloud filtering | XYZ(RGBA) | organized clouds only |
| [`pcl::FastBilateralFilterOMP`](https://pointclouds.org/documentation/classpcl_1_1_fast_bilateral_filter_o_m_p.html) | cloud filtering | XYZ(RGBA) | organized clouds only |
| [`pcl::GreedyProjectionTriangulation`](https://pointclouds.org/documentation/classpcl_1_1_greedy_projection_triangulation.html) | mesh construction | XYZ/XYZI/XYZRGBA + Normal | |
| [`pcl::GridMinimum`](https://pointclouds.org/documentation/classpcl_1_1_grid_minimum.html) | cloud resampling | any | |
| [ `pcl::GridProjection` ](https://pointclouds.org/documentation/classpcl_1_1_grid_projection.html) | surface reconstruction | XYZ/XYZI/XYZRGBA + Normal | |
| [`pcl::LocalMaximum`](https://pointclouds.org/documentation/classpcl_1_1_local_maximum.html) | cloud resampling | any | |
| [`pcl::MarchingCubesHoppe`](https://pointclouds.org/documentation/classpcl_1_1_marching_cubes_hoppe.html) | surface reconstruction | XYZ/XYZI/XYZRGBA + Normal | |
| [`pcl::MarchingCubesRBF`](https://pointclouds.org/documentation/classpcl_1_1_marching_cubes_r_b_f.html) | surface reconstruction | XYZ/XYZI/XYZRGBA + Normal | |
| [`pcl::MedianFilter`](https://pointclouds.org/documentation/classpcl_1_1_median_filter.html) | cloud filtering | any | organized clouds only |
| [`pcl::MeshQuadricDecimationVTK`](https://pointclouds.org/documentation/classpcl_1_1_mesh_quadric_decimation_v_t_k.html) | mesh processing | (mesh) | |
| [`pcl::MeshSmoothingLaplacianVTK`](https://pointclouds.org/documentation/classpcl_1_1_mesh_smoothing_laplacian_v_t_k.html) | mesh processing | (mesh) | |
| [`pcl::MeshSmoothingWindowedSincVTK`](https://pointclouds.org/documentation/classpcl_1_1_mesh_smoothing_windowed_sinc_v_t_k.html) | mesh processing | (mesh) | |
| [`pcl::MeshSubdivisionVTK`](https://pointclouds.org/documentation/classpcl_1_1_mesh_subdivision_v_t_k.html) | mesh processing | (mesh) | |
| [`pcl::MovingLeastSquares`](https://pointclouds.org/documentation/classpcl_1_1_moving_least_squares.html) | cloud processing | any | requires PCL 1.9+ |
| [`pcl::NormalEstimation`](https://pointclouds.org/documentation/classpcl_1_1_normal_estimation.html) | normal estimation | any | |
| [`pcl::NormalEstimationOMP`](https://pointclouds.org/documentation/classpcl_1_1_normal_estimation_o_m_p.html) | normal estimation | any | |
| [`pcl::OrganizedFastMesh`](https://pointclouds.org/documentation/classpcl_1_1_organized_fast_mesh.html) | mesh construction | XYZ(RGBA) | organized clouds only |
| [`pcl::PassThrough`](https://pointclouds.org/documentation/classpcl_1_1_pass_through.html) | cloud filtering | any | |
| [`pcl::Poisson`](https://pointclouds.org/documentation/classpcl_1_1_poisson.html) | surface reconstruction | XYZ/XYZI/XYZRGBA + Normal | `threads` requires PCL 1.12+ |
| [`pcl::RadiusOutlierRemoval`](https://pointclouds.org/documentation/classpcl_1_1_radius_outlier_removal.html) | cloud filtering | any | |
| [`pcl::RandomSample`](https://pointclouds.org/documentation/classpcl_1_1_random_sample.html) | cloud resampling | any | |
| [`pcl::SamplingSurfaceNormal`](https://pointclouds.org/documentation/classpcl_1_1_sampling_surface_normal.html) | cloud resampling | XYZ/XYZI/XYZRGBA + Normal | |
| [`pcl::ShadowPoints`](https://pointclouds.org/documentation/classpcl_1_1_shadow_points.html) | cloud filtering | any normal type | only normal types |
| [`pcl::SimplificationRemoveUnusedVertices`](https://pointclouds.org/documentation/classpcl_1_1surface_1_1_simplification_remove_unused_vertices.html) | mesh simplification | (mesh) | |
| [`pcl::StatisticalOutlierRemoval`](https://pointclouds.org/documentation/classpcl_1_1_statistical_outlier_removal.html) | cloud filtering | any | |
| [`pcl::UniformSampling`](https://pointclouds.org/documentation/classpcl_1_1_uniform_sampling.html) | cloud resampling | any | |
| [`pcl::VoxelGrid`](https://pointclouds.org/documentation/classpcl_1_1_voxel_grid.html) | cloud resampling | any | |

Mesh construction methods preserve the original point cloud as the surface vertices
and simply construct the mesh on top, while surface reconstruction changes the topology
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