&, shape_msgs::msg::SolidPrimitive&, geometry_msgs::msg::Pose&)

Defined in File shape_extraction.h

Function Documentation

bool simple_grasping::extractShape(const pcl::PointCloud<pcl::PointXYZRGB> &input, 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.

Parameters:

input – Point Cloud of the object.
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.