Program Listing for File shape_extraction.h

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/*
 * Copyright 2020, Michael Ferguson
 * Copyright 2013-2014, Unbounded Robotics Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Unbounded Robotics, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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 */

// Author: Michael Ferguson

#ifndef SIMPLE_GRASPING__SHAPE_EXTRACTION_H_
#define SIMPLE_GRASPING__SHAPE_EXTRACTION_H_

#include "shape_msgs/msg/solid_primitive.hpp"
#include "geometry_msgs/msg/pose.hpp"

#include "pcl/point_types.h"
#include "pcl/pcl_base.h"
#include "pcl/ModelCoefficients.h"

namespace simple_grasping
{

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

bool 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);

bool extractUnorientedBoundingBox(const pcl::PointCloud<pcl::PointXYZRGB>& input,
                                  shape_msgs::msg::SolidPrimitive& shape,
                                  geometry_msgs::msg::Pose& pose);

}  // namespace simple_grasping

#endif  // SIMPLE_GRASPING__SHAPE_EXTRACTION_H_