Function arrayToPCLPointCloud

src/detect_grasps_python.cpp:122–135

}

PointCloudRGB arrayToPCLPointCloud(float *points, int num_points) {
  PointCloudRGB cloud;
  cloud.resize(num_points);

  for (int i = 0; i < num_points; i++) {
    PointT p;
    p.x = points[3 * i + 0];
    p.y = points[3 * i + 1];
    p.z = points[3 * i + 2];
    cloud.at(i) = p;
  }

  return cloud;
}

Cloud augmentedCloudToCloud(AugmentedCloud *cloud) {
  PointCloudRGB::Ptr pcl_cloud(new PointCloudRGB);