pointcloud_utils.h
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00001 /*
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00035 #ifndef LSL_POINT_CLOUD_UTILS
00036 #define LSL_POINT_CLOUD_UTILS
00037 
00038 #include <pcl/point_cloud.h>
00039 #include <pcl/point_types.h>
00040 #include <Eigen/Core>
00041 
00042 namespace lslgeneric
00043 {
00044 /* \brief Routines to read/write point clouds from VRML files */
00045 
00046 template< typename PointT>
00047 pcl::PointCloud<PointT> readVRML(const char* fname);
00048 template< typename PointT>
00049 pcl::PointCloud<PointT> readVRML(FILE* fout);
00050 
00051 template< typename PointT>
00052 pcl::PointCloud<PointT> readVRMLIntensity(const char* fname);
00053 template< typename PointT>
00054 pcl::PointCloud<PointT> readVRMLIntensity(FILE* fout);
00055 
00056 template< typename PointT>
00057 void writeToVRMLColor(const char* fname, pcl::PointCloud<PointT> &pc);
00058 template< typename PointT>
00059 void writeToVRMLColor(FILE* fout, pcl::PointCloud<PointT> &pc);
00060 
00061 template< typename PointT>
00062 void writeToVRMLIntensity(const char* fname, pcl::PointCloud<PointT> &pc,
00063                           Eigen::Vector3d col = Eigen::Vector3d(1,1,1));
00064 template< typename PointT>
00065 void writeToVRMLIntensity(FILE* fout, pcl::PointCloud<PointT> &pc,
00066                           Eigen::Vector3d col = Eigen::Vector3d(1,1,1));
00067 
00068 template< typename PointT>
00069 void writeToVRML(const char* fname, pcl::PointCloud<PointT> &pc,
00070                  Eigen::Vector3d col = Eigen::Vector3d(1,1,1));
00071 template< typename PointT>
00072 void writeToVRML(FILE* fout, pcl::PointCloud<PointT> &pc,
00073                  Eigen::Vector3d col = Eigen::Vector3d(1,1,1));
00074 
00075 template< typename PointT>
00076 pcl::PointCloud<PointT> transformPointCloud(Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor> &T,
00077         const pcl::PointCloud<PointT> &pc);
00078 template< typename PointT>
00079 void transformPointCloudInPlace(Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor> &T, pcl::PointCloud<PointT> &pc);
00080 
00081 template< typename PointT>
00082 double geomDist(PointT p1, PointT p2);
00083 
00084 };
00085 #include<pointcloud_vrml/impl/pointcloud_utils.hpp>
00086 
00087 #endif
00088 


pointcloud_vrml
Author(s): Todor Stoyanov
autogenerated on Wed Oct 8 2014 23:30:29