cloud_tools.h
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30 
31 // Author: Michael Ferguson
32 
33 #ifndef SIMPLE_GRASPING_CLOUD_TOOLS_H
34 #define SIMPLE_GRASPING_CLOUD_TOOLS_H
35 
36 #include <Eigen/Eigen>
37 
38 #include <pcl/point_types.h>
39 #include <pcl_ros/point_cloud.h>
40 #include <pcl_ros/transforms.h>
41 
42 #include <vector>
43 
44 namespace simple_grasping
45 {
46 
56 void hsv2rgb(const float h, const float s, const float v, float& r, float& g, float& b);
57 
63 void colorizeCloud(pcl::PointCloud<pcl::PointXYZRGB>& cloud, float hue);
64 
70 template<typename PointT>
71 double distancePointToPlane(const PointT& point, const pcl::ModelCoefficients::Ptr plane)
72 {
73  Eigen::Vector4f pp(point.x, point.y, point.z, 1);
74  Eigen::Vector4f m(plane->values[0], plane->values[1], plane->values[2], plane->values[3]);
75  return pp.dot(m);
76 }
77 
83 double distancePointToPlane(const Eigen::Vector4f& point, const pcl::ModelCoefficients::Ptr plane);
84 
85 } // namespace simple_grasping
86 
87 #endif // SIMPLE_GRASPING_CLOUD_TOOLS_H
double distancePointToPlane(const PointT &point, const pcl::ModelCoefficients::Ptr plane)
Get distance from point to plane.
Definition: cloud_tools.h:71
XmlRpcServer s
void colorizeCloud(pcl::PointCloud< pcl::PointXYZRGB > &cloud, float hue)
Update rgb component of an XYZRGB cloud to a new HSV color.
Definition: cloud_tools.cpp:67
void hsv2rgb(const float h, const float s, const float v, float &r, float &g, float &b)
Fill in RGB values from HSV values.
Definition: cloud_tools.cpp:41


simple_grasping
Author(s): Michael Ferguson
autogenerated on Wed Jun 5 2019 20:04:47