point_cloud_utilities.h

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#pragma once

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

#include <string>

#include "nxLib.h"

struct PointCloudROI
{
  float minX = 0;
  float minY = 0;
  float minZ = 0;
  float maxX = 0;
  float maxY = 0;
  float maxZ = 0;

  bool contains(float x, float y, float z) const
  {
    return (x >= minX && x <= maxX && y >= minY && y <= maxY && z >= minZ && z <= maxZ);
  }

  bool isEmpty() const
  {
    return (minX >= maxX || minY >= maxY || minZ >= maxZ);
  }
};

pcl::PointCloud<pcl::PointXYZ>::Ptr pointCloudFromNxLib(NxLibItem const& node, std::string const& frame,
                                                        PointCloudROI const* roi = nullptr);

pcl::PointCloud<pcl::PointNormal>::Ptr pointCloudWithNormalsFromNxLib(NxLibItem const& pointMapNode,
                                                                      NxLibItem const& normalNode,
                                                                      std::string const& frame,
                                                                      PointCloudROI const* roi = nullptr);

pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloudTexturedFromNxLib(NxLibItem const& imageNode,
                                                                   NxLibItem const& pointsNode,
                                                                   std::string const& frame,
                                                                   PointCloudROI const* roi = nullptr);