cloud_tools.h
Go to the documentation of this file.
00001 /*
00002  * Copyright 2013-2014, Unbounded Robotics Inc.
00003  * Copyright 2011, Willow Garage, Inc. (hsv2rgb)
00004  * All rights reserved.
00005  *
00006  * Redistribution and use in source and binary forms, with or without
00007  * modification, are permitted provided that the following conditions are met:
00008  *
00009  *     * Redistributions of source code must retain the above copyright
00010  *       notice, this list of conditions and the following disclaimer.
00011  *     * Redistributions in binary form must reproduce the above copyright
00012  *       notice, this list of conditions and the following disclaimer in the
00013  *       documentation and/or other materials provided with the distribution.
00014  *     * Neither the name of the Unbounded Robotics, Inc. nor the names of its
00015  *       contributors may be used to endorse or promote products derived from
00016  *       this software without specific prior written permission.
00017  *
00018  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00019  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00020  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00021  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00022  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00023  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00024  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00025  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00026  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00027  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00028  * POSSIBILITY OF SUCH DAMAGE.
00029  */
00030 
00031 // Author: Michael Ferguson
00032 
00033 #ifndef SIMPLE_GRASPING_CLOUD_TOOLS_H
00034 #define SIMPLE_GRASPING_CLOUD_TOOLS_H
00035 
00036 #include <Eigen/Eigen>
00037 
00038 #include <pcl/point_types.h>
00039 #include <pcl_ros/point_cloud.h>
00040 #include <pcl_ros/transforms.h>
00041 
00042 #include <vector>
00043 
00044 namespace simple_grasping
00045 {
00046 
00056 void hsv2rgb(const float h, const float s, const float v, float& r, float& g, float& b);
00057 
00063 void colorizeCloud(pcl::PointCloud<pcl::PointXYZRGB>& cloud, float hue);
00064 
00070 template<typename PointT>
00071 double distancePointToPlane(const PointT& point, const pcl::ModelCoefficients::Ptr plane)
00072 {
00073   Eigen::Vector4f pp(point.x, point.y, point.z, 1);
00074   Eigen::Vector4f m(plane->values[0], plane->values[1], plane->values[2], plane->values[3]);
00075   return pp.dot(m);
00076 }
00077 
00083 double distancePointToPlane(const Eigen::Vector4f& point, const pcl::ModelCoefficients::Ptr plane);
00084 
00085 }  // namespace simple_grasping
00086 
00087 #endif  // SIMPLE_GRASPING_CLOUD_TOOLS_H


simple_grasping
Author(s): Michael Ferguson
autogenerated on Fri Aug 26 2016 13:17:24