bounding_volume_calculator.h

Go to the documentation of this file.

#ifndef RAIL_SEGMENTATION_BOUNDING_VOLUME_CALCULATOR_H
#define RAIL_SEGMENTATION_BOUNDING_VOLUME_CALCULATOR_H

// ROS
#include <rail_manipulation_msgs/BoundingVolume.h>
#include <pcl_ros/point_cloud.h>
#include <sensor_msgs/PointCloud2.h>

// PCL
#include <pcl/common/common.h>
#include <pcl/common/transforms.h>
#include <pcl/filters/project_inliers.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

class BoundingVolumeCalculator
{

public:

  static rail_manipulation_msgs::BoundingVolume computeBoundingVolume(sensor_msgs::PointCloud2 cloud);

  static rail_manipulation_msgs::BoundingVolume computeBoundingVolume(pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud);

  static rail_manipulation_msgs::BoundingVolume computeBoundingVolume(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);
};

#endif // RAIL_SEGMENTATION_BOUNDING_VOLUME_CALCULATOR_H