pcl_util.h File Reference

#include <string>
#include "pcl/filters/voxel_grid.h"
#include "pcl/io/pcd_io.h"
#include "pcl/point_types.h"
#include "modules/perception/base/point_cloud.h"
#include "modules/perception/lidar/common/lidar_log.h"

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Classes
struct	apollo::perception::lidar::PCLPointXYZIT
struct	apollo::perception::lidar::PCLPointXYZL

Namespaces
	apollo
	PlanningContext is the runtime context in planning. It is persistent across multiple frames.
	apollo::perception
	apollo::perception
	apollo::perception::lidar

Typedefs
typedef pcl::PointXYZRGB	apollo::perception::lidar::CPoint
typedef pcl::PointCloud< CPoint >	apollo::perception::lidar::CPointCloud
typedef pcl::PointCloud< CPoint >::Ptr	apollo::perception::lidar::CPointCloudPtr
typedef pcl::PointCloud< CPoint >::ConstPtr	apollo::perception::lidar::CPointCloudConstPtr

Functions
bool	apollo::perception::lidar::LoadPCLPCD (const std::string &file_path, base::PointFCloud *cloud_out)
template<typename PointT >
void	apollo::perception::lidar::TransformToPCLXYZI (const base::AttributePointCloud< PointT > &org_cloud, const pcl::PointCloud< pcl::PointXYZI >::Ptr &out_cloud_ptr)
void	apollo::perception::lidar::TransformFromPCLXYZI (const pcl::PointCloud< pcl::PointXYZI >::Ptr &org_cloud_ptr, const base::PointFCloudPtr &out_cloud_ptr)
void	apollo::perception::lidar::DownSampleCloudByVoxelGrid (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud_ptr, const pcl::PointCloud< pcl::PointXYZI >::Ptr &filtered_cloud_ptr, float lx=0.01f, float ly=0.01f, float lz=0.01f)

Variables
struct apollo::perception::lidar::PCLPointXYZIT	apollo::perception::lidar::EIGEN_ALIGN16