util.h

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#ifndef UTIL_H
#define UTIL_H

#include <Eigen/Dense>
#include <vector>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>


namespace descriptor_surface_based_recognition {



Eigen::Vector3d parseStringVector(std::string input_string, std::string delim);

Eigen::Vector2i parseStringVector2i(std::string input_string, std::string delim);

Eigen::Vector3d computeMedian(std::vector<Eigen::Vector3d> points);

pcl::PointXYZ computeMedian(std::vector<pcl::PointXYZ> points);

pcl::PointXYZ findPoint3D(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, pcl::PointXYZ current_point, int row, int column, int image_height, int image_width);

typedef struct {
    double r;       // percent
    double g;       // percent
    double b;       // percent
} rgb;

typedef struct {
    double h;       // angle in degrees
    double s;       // percent
    double v;       // percent
} hsv;


rgb hsv2rgb(hsv in);


}

#endif