Function simple_grasping::extractShape(const pcl::PointCloud<pcl::PointXYZRGB>&, const pcl::ModelCoefficients::Ptr, pcl::PointCloud<pcl::PointXYZRGB>&, shape_msgs::msg::SolidPrimitive&, geometry_msgs::msg::Pose&)

Function Documentation

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

Find the smallest shape primitive we can fit around this object, given the plane parameters.

Parameters:

  • input – Point Cloud of the object.

  • model – Model coefficients for the plane.

  • output – Point Cloud transformed to the pose frame of the shape primitive fit.

  • shape – Returned smallest shape primitive fit.

  • pose – The pose of the shape primitive fit.

Returns:

True if a shape was extracted, false if we have a failure.