Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * pcl.h - Convert PCL buffer to PointCloud structure 00004 * 00005 * Created: Wed Nov 02 19:11:47 2011 00006 * Copyright 2011 Tim Niemueller [www.niemueller.de] 00007 ****************************************************************************/ 00008 00009 /* This program is free software; you can redistribute it and/or modify 00010 * it under the terms of the GNU General Public License as published by 00011 * the Free Software Foundation; either version 2 of the License, or 00012 * (at your option) any later version. A runtime exception applies to 00013 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00014 * 00015 * This program is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00018 * GNU Library General Public License for more details. 00019 * 00020 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00021 */ 00022 00023 #ifndef __FIREVISION_UTILS_ADAPTERS_PCL_H 00024 #define __FIREVISION_UTILS_ADAPTERS_PCL_H 00025 00026 #ifdef HAVE_PCL 00027 # include <pcl/point_cloud.h> 00028 # include <pcl/point_types.h> 00029 00030 namespace firevision { 00031 #if 0 /* just to make Emacs auto-indent happy */ 00032 } 00033 #endif 00034 00035 class SharedMemoryImageBuffer; 00036 00037 void convert_buffer_to_pcl(const SharedMemoryImageBuffer *buffer, 00038 pcl::PointCloud<pcl::PointXYZ> &pcl); 00039 00040 void convert_buffer_to_pcl(const SharedMemoryImageBuffer *buffer, 00041 pcl::PointCloud<pcl::PointXYZRGB> &pcl); 00042 00043 } // end namespace firevision 00044 #else // not HAVE_PCL 00045 # error PCL not available, guard your include with HAVE_PCL 00046 #endif 00047 #endif