Function simple_grasping::extractUnorientedBoundingBox

• Defined in File shape_extraction.h

Function Documentation

bool simple_grasping::extractUnorientedBoundingBox(const pcl::PointCloud<pcl::PointXYZRGB> &input, shape_msgs::msg::SolidPrimitive &shape, geometry_msgs::msg::Pose &pose)

Find a bounding box around a cloud. This method does not attempt to find best orientation and so the bounding box will be oriented with the frame of the cloud.

Parameters:

• input – Point Cloud of the object.

• shape – The box fit to this cloud.

• pose – The pose of the shape primitive extracted.