tools.h

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#include <visualization_msgs/Marker.h>
#include <Eigen/Core>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <geometry_msgs/PoseStamped.h> 
#include <tf/transform_datatypes.h>

typedef pcl::PointXYZ myPointType;
typedef pcl::PointCloud<myPointType> myCloudType;

visualization_msgs::Marker visualize_filter_box(float xmin,float xmax,
                                                float ymin,float ymax,
                                                float zmin,float zmax, 
                                                std_msgs::Header header);

bool computeMainAxis(const myCloudType& pc, Eigen::Vector3f& mean, Eigen::Vector3f& main_axis, float eval_ratio_threshold);
void box_filter(myCloudType::Ptr pc, float xmin,float xmax,float ymin,float ymax,float zmin,float zmax);
geometry_msgs::PoseStamped getPoseStamped(const Eigen::Vector3f& pos, const tf::Quaternion& gripperRotation);