00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, AASS Research Center, Orebro University. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of AASS Research Center nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 */ 00035 #ifndef LSL_POINT_CLOUD_UTILS 00036 #define LSL_POINT_CLOUD_UTILS 00037 00038 #include <pcl/point_cloud.h> 00039 #include <pcl/point_types.h> 00040 #include <Eigen/Core> 00041 00042 namespace lslgeneric 00043 { 00044 /* \brief Routines to read/write point clouds from VRML files */ 00045 00046 template< typename PointT> 00047 pcl::PointCloud<PointT> transformPointCloud(Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor> &T, 00048 const pcl::PointCloud<PointT> &pc); 00049 template< typename PointT> 00050 void transformPointCloudInPlace(Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor> &T, pcl::PointCloud<PointT> &pc); 00051 00052 template< typename PointT> 00053 double geomDist(PointT p1, PointT p2); 00054 00055 }; 00056 #include<ndt_map/impl/pointcloud_utils.hpp> 00057 00058 #endif 00059