shape_extraction.h
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00001 /*
00002  * Copyright 2013-2014, Unbounded Robotics Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Unbounded Robotics, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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00029 
00030 // Author: Michael Ferguson
00031 
00032 #ifndef SIMPLE_GRASPING_SHAPE_EXTRACTION_H
00033 #define SIMPLE_GRASPING_SHAPE_EXTRACTION_H
00034 
00035 #include <shape_msgs/SolidPrimitive.h>
00036 #include <geometry_msgs/Pose.h>
00037 
00038 #include <pcl/point_types.h>
00039 #include <pcl_ros/point_cloud.h>
00040 
00041 namespace simple_grasping
00042 {
00043 
00052 bool extractShape(const pcl::PointCloud<pcl::PointXYZRGB>& input,
00053                   pcl::PointCloud<pcl::PointXYZRGB>& output,
00054                   shape_msgs::SolidPrimitive& shape,
00055                   geometry_msgs::Pose& pose);
00056 
00067 bool extractShape(const pcl::PointCloud<pcl::PointXYZRGB>& input,
00068                   const pcl::ModelCoefficients::Ptr model,
00069                   pcl::PointCloud<pcl::PointXYZRGB>& output,
00070                   shape_msgs::SolidPrimitive& shape,
00071                   geometry_msgs::Pose& pose);
00072 
00081 bool extractUnorientedBoundingBox(const pcl::PointCloud<pcl::PointXYZRGB>& input,
00082                                   shape_msgs::SolidPrimitive& shape,
00083                                   geometry_msgs::Pose& pose);
00084 
00085 }  // namespace simple_grasping
00086 
00087 #endif  // SIMPLE_GRASPING_SHAPE_EXTRACTION_H


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