OOBB.cpp

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#include "OOBB.h"
 
#include "OOBB.hpp"
 
#ifdef CGAL_FOUND
 
 
simox::OrientedBox<float>
armarx::calculate2dOOBB(const std::vector<Eigen::Vector3f>& points, const Eigen::Vector3f& dir)
{
    return calculate2dOOBB<std::vector<Eigen::Vector3f>>(points, dir.cast<double>()).cast<float>();
}
 
simox::OrientedBox<double>
armarx::calculate2dOOBB(const std::vector<Eigen::Vector3d>& points, const Eigen::Vector3d& dir)
{
    return calculate2dOOBB<std::vector<Eigen::Vector3d>>(points, dir);
}
 
simox::OrientedBox<float>
armarx::calculate2dOOBB(const pcl::PointCloud<pcl::PointXYZ>& cloud, const Eigen::Vector3f& dir)
{
    return calculate2dOOBB<pcl::PointCloud<pcl::PointXYZ>>(cloud, dir.cast<double>()).cast<float>();
}
 
simox::OrientedBox<double>
armarx::calculate2dOOBB(const pcl::PointCloud<pcl::PointXYZ>& cloud, const Eigen::Vector3d& dir)
{
    return calculate2dOOBB<pcl::PointCloud<pcl::PointXYZ>>(cloud, dir);
}
 
simox::OrientedBox<float>
armarx::calculate2dOOBB(const pcl::PointCloud<pcl::PointXYZL>& cloud, const Eigen::Vector3f& dir)
{
    return calculate2dOOBB<pcl::PointCloud<pcl::PointXYZL>>(cloud, dir.cast<double>())
        .cast<float>();
}
 
simox::OrientedBox<double>
armarx::calculate2dOOBB(const pcl::PointCloud<pcl::PointXYZL>& cloud, const Eigen::Vector3d& dir)
{
    return calculate2dOOBB<pcl::PointCloud<pcl::PointXYZL>>(cloud, dir);
}
 
simox::OrientedBox<float>
armarx::calculate2dOOBB(const pcl::PointCloud<pcl::PointXYZRGB>& cloud, const Eigen::Vector3f& dir)
{
    return calculate2dOOBB<pcl::PointCloud<pcl::PointXYZRGB>>(cloud, dir.cast<double>())
        .cast<float>();
}
 
simox::OrientedBox<double>
armarx::calculate2dOOBB(const pcl::PointCloud<pcl::PointXYZRGB>& cloud, const Eigen::Vector3d& dir)
{
    return calculate2dOOBB<pcl::PointCloud<pcl::PointXYZRGB>>(cloud, dir);
}
 
simox::OrientedBox<float>
armarx::calculate2dOOBB(const pcl::PointCloud<pcl::PointXYZRGBA>& cloud, const Eigen::Vector3f& dir)
{
    return calculate2dOOBB<pcl::PointCloud<pcl::PointXYZRGBA>>(cloud, dir.cast<double>())
        .cast<float>();
}
 
simox::OrientedBox<double>
armarx::calculate2dOOBB(const pcl::PointCloud<pcl::PointXYZRGBA>& cloud, const Eigen::Vector3d& dir)
{
    return calculate2dOOBB<pcl::PointCloud<pcl::PointXYZRGBA>>(cloud, dir);
}
 
simox::OrientedBox<float>
armarx::calculate2dOOBB(const pcl::PointCloud<pcl::PointXYZRGBL>& cloud, const Eigen::Vector3f& dir)
{
    return calculate2dOOBB<pcl::PointCloud<pcl::PointXYZRGBL>>(cloud, dir.cast<double>())
        .cast<float>();
}
 
simox::OrientedBox<double>
armarx::calculate2dOOBB(const pcl::PointCloud<pcl::PointXYZRGBL>& cloud, const Eigen::Vector3d& dir)
{
    return calculate2dOOBB<pcl::PointCloud<pcl::PointXYZRGBL>>(cloud, dir);
}
 
 
#endif