3 #include <SemanticObjectRelations/Shapes.h>
4 #include <SemanticObjectRelations/ShapeExtraction/util/SoftMinMax.h>
15 template <
class Po
intT>
19 const std::map<uint32_t, AxisAlignedBoundingBox> aabbs =
semantic::getAABBs(pointCloud, segmentIndices);
27 return ::getShapesFromAABBs<pcl::PointXYZL>(pointCloud);
32 return ::getShapesFromAABBs<pcl::PointXYZRGBL>(pointCloud);
38 shapes.reserve(segmentAABBs.size());
39 for (
const auto& [label, aabb] : segmentAABBs)
41 shapes.emplace_back(
new semrel::Box(aabb, semrel::ShapeID(label)));
48 template <
class Po
intT>
53 std::map<uint32_t, AxisAlignedBoundingBox> segmentAABBs;
54 for (
const auto& [label,
indices] : segmentIndices)