shape_extraction.h

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 * Copyright 2013-2014, Unbounded Robotics Inc.
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// Author: Michael Ferguson

#ifndef SIMPLE_GRASPING_SHAPE_EXTRACTION_H
#define SIMPLE_GRASPING_SHAPE_EXTRACTION_H

#include <shape_msgs/SolidPrimitive.h>
#include <geometry_msgs/Pose.h>

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

namespace simple_grasping
{

bool extractShape(const pcl::PointCloud<pcl::PointXYZRGB>& input,
                  pcl::PointCloud<pcl::PointXYZRGB>& output,
                  shape_msgs::SolidPrimitive& shape,
                  geometry_msgs::Pose& pose);

bool extractShape(const pcl::PointCloud<pcl::PointXYZRGB>& input,
                  const pcl::ModelCoefficients::Ptr model,
                  pcl::PointCloud<pcl::PointXYZRGB>& output,
                  shape_msgs::SolidPrimitive& shape,
                  geometry_msgs::Pose& pose);

bool extractUnorientedBoundingBox(const pcl::PointCloud<pcl::PointXYZRGB>& input,
                                  shape_msgs::SolidPrimitive& shape,
                                  geometry_msgs::Pose& pose);

}  // namespace simple_grasping

#endif  // SIMPLE_GRASPING_SHAPE_EXTRACTION_H