00001 /* 00002 * Copyright 2013-2014, Unbounded Robotics Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Unbounded Robotics, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 // Author: Michael Ferguson 00031 00032 #ifndef SIMPLE_GRASPING_SHAPE_EXTRACTION_H 00033 #define SIMPLE_GRASPING_SHAPE_EXTRACTION_H 00034 00035 #include <shape_msgs/SolidPrimitive.h> 00036 #include <geometry_msgs/Pose.h> 00037 00038 #include <pcl/point_types.h> 00039 #include <pcl_ros/point_cloud.h> 00040 00041 namespace simple_grasping 00042 { 00043 00052 bool extractShape(const pcl::PointCloud<pcl::PointXYZRGB>& input, 00053 pcl::PointCloud<pcl::PointXYZRGB>& output, 00054 shape_msgs::SolidPrimitive& shape, 00055 geometry_msgs::Pose& pose); 00056 00067 bool extractShape(const pcl::PointCloud<pcl::PointXYZRGB>& input, 00068 const pcl::ModelCoefficients::Ptr model, 00069 pcl::PointCloud<pcl::PointXYZRGB>& output, 00070 shape_msgs::SolidPrimitive& shape, 00071 geometry_msgs::Pose& pose); 00072 00081 bool extractUnorientedBoundingBox(const pcl::PointCloud<pcl::PointXYZRGB>& input, 00082 shape_msgs::SolidPrimitive& shape, 00083 geometry_msgs::Pose& pose); 00084 00085 } // namespace simple_grasping 00086 00087 #endif // SIMPLE_GRASPING_SHAPE_EXTRACTION_H