pointcloud_utils.h

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#ifndef LSL_POINT_CLOUD_UTILS
#define LSL_POINT_CLOUD_UTILS

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <Eigen/Core>

namespace lslgeneric
{
/* \brief Routines to read/write point clouds from VRML files */

template< typename PointT>
pcl::PointCloud<PointT> readVRML(const char* fname);
template< typename PointT>
pcl::PointCloud<PointT> readVRML(FILE* fout);

template< typename PointT>
pcl::PointCloud<PointT> readVRMLIntensity(const char* fname);
template< typename PointT>
pcl::PointCloud<PointT> readVRMLIntensity(FILE* fout);

template< typename PointT>
void writeToVRMLColor(const char* fname, pcl::PointCloud<PointT> &pc);
template< typename PointT>
void writeToVRMLColor(FILE* fout, pcl::PointCloud<PointT> &pc);

template< typename PointT>
void writeToVRMLIntensity(const char* fname, pcl::PointCloud<PointT> &pc,
                          Eigen::Vector3d col = Eigen::Vector3d(1,1,1));
template< typename PointT>
void writeToVRMLIntensity(FILE* fout, pcl::PointCloud<PointT> &pc,
                          Eigen::Vector3d col = Eigen::Vector3d(1,1,1));

template< typename PointT>
void writeToVRML(const char* fname, pcl::PointCloud<PointT> &pc,
                 Eigen::Vector3d col = Eigen::Vector3d(1,1,1));
template< typename PointT>
void writeToVRML(FILE* fout, pcl::PointCloud<PointT> &pc,
                 Eigen::Vector3d col = Eigen::Vector3d(1,1,1));

template< typename PointT>
pcl::PointCloud<PointT> transformPointCloud(Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor> &T,
        const pcl::PointCloud<PointT> &pc);
template< typename PointT>
void transformPointCloudInPlace(Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor> &T, pcl::PointCloud<PointT> &pc);

template< typename PointT>
double geomDist(PointT p1, PointT p2);

};
#include<impl/pointcloud_utils.hpp>

#endif