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gabyx / ApproxMVBB

Fast algorithms to compute an approximation of the minimal volume oriented bounding box of a point cloud in 3D.
Mozilla Public License 2.0
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What are lower point and upper point in the OOBB object? #17

Closed caihaoye16 closed 7 years ago

caihaoye16 commented 7 years ago

Are they the two vertices on the diagonal?

gabyx commented 7 years ago

Correct, oobb.m_minPointand oobb.m_maxPoint are the minimal and maximal Point in the Coordinate System of the object oriented bounding box oobb which is given by the transformation matrix:

oobb.m_q_KI.matrix()

which is the rotation matrix R_KI which turns the world frame I into the OOBB frame K. This is the transformation matrix A_IK which turns a coordinate tuple K_x in coordinate system K into a coordinate tuple I_x in coordinate system I , by I_x = A_IK * K_x

See the example/approxMVBB/src/main.cpp