blob_properties.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#ifndef SEMANTICMODEL_BLOB_PROPERTIES_H
#define SEMANTICMODEL_BLOB_PROPERTIES_H

#include <semanticmodel/blob_store.h>
#include <boost/optional.hpp>

namespace semanticmodel
{

typedef pcl16::PointXYZRGB Point;
typedef pcl16::PointCloud<Point> PointCloud;


// Internally used structure for representing center and size of a cluster
struct GeometricInfo
{
  GeometricInfo (double x, double y, double z, double d) : x(x), y(y), z(z), d(d) {}
  double x;
  double y;
  double z;
  double d;
};

GeometricInfo centroidAndDiameter (const PointCloud& cloud);

std::string blobColorName(const Blob& blob);


} // namespace

#endif // include guard