rail_segmentation: bounding_volume_calculator.h Source File

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00001 #ifndef RAIL_SEGMENTATION_BOUNDING_VOLUME_CALCULATOR_H
00002 #define RAIL_SEGMENTATION_BOUNDING_VOLUME_CALCULATOR_H
00003 
00004 // ROS
00005 #include <rail_manipulation_msgs/BoundingVolume.h>
00006 #include <pcl_ros/point_cloud.h>
00007 #include <sensor_msgs/PointCloud2.h>
00008 
00009 // PCL
00010 #include <pcl/common/common.h>
00011 #include <pcl/common/transforms.h>
00012 #include <pcl/filters/project_inliers.h>
00013 #include <pcl/point_cloud.h>
00014 #include <pcl/point_types.h>
00015 
00019 class BoundingVolumeCalculator
00020 {
00021 
00022 public:
00023 
00029   static rail_manipulation_msgs::BoundingVolume computeBoundingVolume(sensor_msgs::PointCloud2 cloud);
00030 
00036   static rail_manipulation_msgs::BoundingVolume computeBoundingVolume(pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud);
00037 
00043   static rail_manipulation_msgs::BoundingVolume computeBoundingVolume(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);
00044 };
00045 
00046 #endif // RAIL_SEGMENTATION_BOUNDING_VOLUME_CALCULATOR_H