bounding_volume_calculator.h
Go to the documentation of this file.
1 #ifndef RAIL_SEGMENTATION_BOUNDING_VOLUME_CALCULATOR_H
2 #define RAIL_SEGMENTATION_BOUNDING_VOLUME_CALCULATOR_H
3 
4 // ROS
5 #include <rail_manipulation_msgs/BoundingVolume.h>
6 #include <pcl_ros/point_cloud.h>
7 #include <sensor_msgs/PointCloud2.h>
8 
9 // PCL
10 #include <pcl/common/common.h>
11 #include <pcl/common/transforms.h>
12 #include <pcl/filters/project_inliers.h>
13 #include <pcl/point_cloud.h>
14 #include <pcl/point_types.h>
15 
20 {
21 
22 public:
23 
29  static rail_manipulation_msgs::BoundingVolume computeBoundingVolume(sensor_msgs::PointCloud2 cloud);
30 
36  static rail_manipulation_msgs::BoundingVolume computeBoundingVolume(pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud);
37 
43  static rail_manipulation_msgs::BoundingVolume computeBoundingVolume(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);
44 };
45 
46 #endif // RAIL_SEGMENTATION_BOUNDING_VOLUME_CALCULATOR_H
static rail_manipulation_msgs::BoundingVolume computeBoundingVolume(sensor_msgs::PointCloud2 cloud)
Fit a z-axis-aligned bounding box to x-y plane principal direction of point cloud.
Static functions to compute point cloud bounding boxes for pick-and-place.


rail_segmentation
Author(s): Russell Toris , David Kent
autogenerated on Sun Jun 30 2019 19:58:20