cloud_tools.h

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/*
 * Copyright 2013-2014, Unbounded Robotics Inc.
 * Copyright 2011, Willow Garage, Inc. (hsv2rgb)
 * All rights reserved.
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 *       this software without specific prior written permission.
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// Author: Michael Ferguson

#ifndef SIMPLE_GRASPING_CLOUD_TOOLS_H
#define SIMPLE_GRASPING_CLOUD_TOOLS_H

#include <Eigen/Eigen>

#include <pcl/point_types.h>
#include <pcl_ros/point_cloud.h>
#include <pcl_ros/transforms.h>

#include <vector>

namespace simple_grasping
{

void hsv2rgb(const float h, const float s, const float v, float& r, float& g, float& b);

void colorizeCloud(pcl::PointCloud<pcl::PointXYZRGB>& cloud, float hue);

template<typename PointT>
double distancePointToPlane(const PointT& point, const pcl::ModelCoefficients::Ptr plane)
{
  Eigen::Vector4f pp(point.x, point.y, point.z, 1);
  Eigen::Vector4f m(plane->values[0], plane->values[1], plane->values[2], plane->values[3]);
  return pp.dot(m);
}

double distancePointToPlane(const Eigen::Vector4f& point, const pcl::ModelCoefficients::Ptr plane);

}  // namespace simple_grasping

#endif  // SIMPLE_GRASPING_CLOUD_TOOLS_H