PCLCommon.jl

PCL common types, functions and utilities.

Basic usage

The primary export is the PointCloud{PointT} (aliased to PointCloudPtr{PointT}), which represents a shared pointer of a point cloud (i.e. pcl::PointCloud<PointT>::Ptr) in PCL. You can create point clouds as follows:

using PCLCommon

# Create empty point cloud
cloud = PointCloud{PointXYZRGBA}()

which in C++ corresponds to:

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud = pcl::PointCloud<pcl::PointXYZRGBA>::Ptr(
        new pcl::PointCloud<pcl::PointXYZRGBA>);

If you want to load a point cloud from a PCD file, then use PCLIO.jl:

using PCLCommon
using PCLIO

# Create and load point cloud from a PCD file
cloud = PointCloud{PointXYZRGB}("your_pcd_file.pcd")

or

cloud = PointCloud{PointXYZRGB}()
loadPCDFile("your_pcd_file.pcd", cloud)

in C++:

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud = pcl::PointCloud<pcl::PointXYZRGBA>::Ptr(
        new pcl::PointCloud<pcl::PointXYZRGBA>);
pcl::loadPCDFile("your_pcd_file.pcd", *cloud);

If you need a value representation rather than a smart pointer, then use XXXVal (e.g. PointCloudVal) instead:

cloud = PointCloudVal{PointXYZRGBA}()

boost::shared_ptr<T>

Pointer representation for pcl::PointCloud<PointT> in C++

typealias of PointCloudPtr

use_count(s)

Returns reference count

pcl::Axis

pcl::BRISKSignature512

pcl::Boundary

pcl::CPPFSignature

Pointer representation for pcl::Correspondence in C++

typealias of CorrespondencePtr

Pointer representation for pcl::Correspondences in C++

typealias of CorrespondencesPtr

pcl::ESFSignature640

pcl::FPFHSignature33

pcl::GRSDSignature21

pcl::IntensityGradient

pcl::InterestPoint

pcl::Label

Pointer representation for pcl::ModelCoefficients in C++

typealias of ModelCoefficientsPtr

pcl::MomentInvariants

pcl::Narf36

pcl::Normal

pcl::NormalBasedSignature12

Similar to pcl::PCLBase, for dispatch

Pointer representation for pcl::PCLPointCloud2 in C++

typealias of PCLPointCloud2Ptr

pcl::PFHRGBSignature250

pcl::PFHSignature125

pcl::PPFRGBSignature

pcl::PPFSignature

pcl::PointDEM

Pointer representation for pcl::PointIndices in C++

typealias of PointIndicesPtr

pcl::PointNormal

pcl::PointSurfel

pcl::PointUV

pcl::PointWithRange

pcl::PointWithScale

pcl::PointWithViewpoint

pcl::PointXY

pcl::PointXYZ

pcl::PointXYZHSV

pcl::PointXYZI

pcl::PointXYZINormal

pcl::PointXYZL

pcl::PointXYZLNormal

pcl::PointXYZRGB

pcl::PointXYZRGBA

pcl::PointXYZRGBL

pcl::PointXYZRGBNormal

pcl::PrincipalCurvatures

pcl::PrincipalRadiiRSD

Pointer representation for pcl::RangeImage in C++

typealias of RangeImagePtr

pcl::ReferenceFrame

pcl::SHOT1344

pcl::SHOT352

pcl::ShapeContext1980

pcl::UniqueShapeContext1960

pcl::VFHSignature308

@boostsharedptr(name, args)

creates boost::shared_ptr expression (for package development)

Parameters

• name : C++ type name

• args : argments will be passed to constructor

template parameters in 1st argment and embedding expression in 2nd argment must be escaped.

Returns

• handle : C++ boost shared pointer of a given C++ type name and argments

Example

handle = @boostsharedptr(
    "pcl::visualization::PointCloudColorHandlerRGBField<\$T>",
    "\$(cloud.handle)")

@defconstructor(expr, cxxname)

Defines convenient constructor for value types

Parameters

• expr : Constructor expression

• cxxname : C++ type name

Examples

@defptrconstructor PointCloudVal{PointT}() "pcl::PointCloud"

@defpcltype(expr, cxxname)

A macro to define PCL convenient types. Mostly intended to be used by package development.

Parameters

• expr : Julia type name (can have type params)

• cxxname : C++ type name

Example

@defpcltype PointCloud{T} "pcl::PointCloud"

which defines Julia wrapper types for C++ types:

• PointCloudPtr{T}: boost shared pointer of pcl::PointCloud<T> (i.e. pcl::PointCloud<T>::Ptr) wrapper

• PointCloudVal{T}: pcl::PointCloud<T> value wrapper

• PointCloud{T}: type aliased to PointCloudPtr{T}

and also Cxx types:

• pclPointCloudPtr{T}: pcl::PointCloud<T>::Ptr

• pclPointCloudVal{T}: pcl::PointCloud<T>

With the combination of @defptrconstructor, you can then use pcl::PointCloud<T>::Ptr (entirely used in PCL tutorials) as follows:

cloud = PointCloud{PointXYZ}()

Note that PointCloud{T} is a Julia wrapper, you can get the C++ representation as PCLCommon.handle(cloud) or use handle = pclPointCloud{PointXYZ}() which returns C++ type.

@defptrconstructor(expr, cxxname)

Defines convenient constructor for point types

Parameters

• expr : Constructor expression

• cxxname : C++ type name

Examples

@defptrconstructor PointCloud{PointT}() "pcl::PointCloud"

convert(?, cloud)

Converts a point cloud to a different type of point cloud

Examples

cloud = PointCloud{PointXYZRGB}()
xyz_cloud = convert(PointCloud{PointXYZ}, cloud)

pcl::deg2rad

Pointer representation for pcl::Correspondence in C++

Value representation for pcl::Correspondence in C++

Pointer representation for pcl::Correspondences in C++

Value representation for pcl::Correspondences in C++

Pointer representation for pcl::ModelCoefficients in C++

Value representation for pcl::ModelCoefficients in C++

Pointer representation for pcl::PCLPointCloud2 in C++

Value representation for pcl::PCLPointCloud2 in C++

Pointer representation for pcl::PointCloud<PointT> in C++

Value representation for pcl::PointCloud<PointT> in C++

Pointer representation for pcl::PointIndices in C++

Value representation for pcl::PointIndices in C++

Pointer representation for pcl::RangeImage in C++

Value representation for pcl::RangeImage in C++