Template Struct TBoundingBox_

Struct Documentation

template<typename T> struct TBoundingBox_

A bounding box defined by the 3D points at each minimum-maximum corner.

Public Types

enum class CTOR_FLAGS

Values:

Public Functions

inline TBoundingBox_(const mrpt::math::TPoint3D_<T> &Min, const mrpt::math::TPoint3D_<T> &Max, const CTOR_FLAGS f = CTOR_FLAGS::NoFlags): Ctor from min-max corners. A bounding box may have a zero volume if max==min. It is ilegal for a coordinate of the max vector to be smaller than its min counterpart, in which case an exception will be thrown, except if the flag CTOR_FLAGS::AllowUnordered is passed.

inline std::optional<TBoundingBox_<T>> intersection(const TBoundingBox_<T> &b, const T epsilon = static_cast<T>(1e-4)) const: Returns the intersection of this bounding box with “b”, or std::nullopt if no intersection exists. Note that borders are enlarged by “epsilon” before to testing for intersection to handle numerical innacuracies, for example on planar bounding boxes with a fixed “z”.

inline TBoundingBox_<T> unionWith(const TBoundingBox_<T> &b) const: Returns the union of this bounding box with “b”, i.e. a new bounding box comprising both this and b

inline void updateWithPoint(const mrpt::math::TPoint3D_<T> &p): Expands the box limits to include the given point

inline bool containsPoint(const mrpt::math::TPoint3D_<T> &p) const: Returns true if the point lies within the bounding box (including the exact border)

Note

(New in MRPT 2.3.3)

template<typename POSE_T> inline TBoundingBox_<T> compose(const POSE_T &pose) const

Returns a new bounding box, transforming this from local coordinates to global coordinates, as if this was given with respect to pose, ie:

return.min = pose \oplus this->min
return.max = pose \oplus this->max

Note

If a rotation exists, the output bounding box will no longer be an accurate representation of the actual 3D box.

Template Parameters:: POSE_T – Can be mrpt::poses::CPose3D, or mrpt::math::TPose3D

template<typename POSE_T> inline TBoundingBox_<T> inverseCompose(const POSE_T &pose) const

Returns a new bounding box, transforming this from global coordinates to local coordinates with respect to pose, ie:

return.min = this->min \ominus pose
return.max = this->max \ominus pose

Note

If a rotation exists, the output bounding box will no longer be an accurate representation of the actual 3D box.

Template Parameters:: POSE_T – Can be mrpt::poses::CPose3D, or mrpt::math::TPose3D

inline std::string asString() const: Print bounding box as a string with format “(minx,miny,minz)-(maxx,maxy,maxz)”

Note

Do not inherit from mrpt::Stringifyable to avoid virtual class table and keeping the class trivially-copiable.

Public Members

Public Static Functions

static inline TBoundingBox_<T> PlusMinusInfinity(): Initialize with min=+Infinity, max=-Infinity. This is useful as an initial value before processing a list of points to keep their minimum/maximum.

static inline TBoundingBox_<T> FromUnsortedPoints(const mrpt::math::TPoint3D_<T> &pt1, const mrpt::math::TPoint3D_<T> &pt2): Construct a bounding box from two points, by selecting their minimum and maximum (x,y,z) coordinates, so the point coordinates do not need to be already sorted by the user as one being the minimum and maximum corners.

Note

(New in MRPT 2.5.6)