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Public Member Functions
iCub::data3D::BoundingBox Class Reference
boundingBox

The Definition of the BoundingBox class. More...

#include <boundingBox.h>

Public Member Functions

 BoundingBox ()
 Default Constructor.
 
 BoundingBox (const iCub::data3D::Box3D &boundingBox)
 Constructor. More...
 
iCub::data3D::Box3D getBoundingBox ()
 Return the Box3D structure underline the bounding box. More...
 
void setBoundingBox (const iCub::data3D::Box3D &boundingBox)
 Set a Box3D inside the BoundingBox wrapper. More...
 
std::vector< iCub::data3D::PointXYZ > getCorners ()
 Return the corners of the Box3D structure. More...
 
void setCorners (const std::vector< iCub::data3D::PointXYZ > &corners)
 Set the corners of the bounding box. More...
 
yarp::sig::Matrix getOrientation ()
 Return the orientation of the Box3D structure. More...
 
void setOrientation (const yarp::sig::Matrix &orientation)
 Modify the orientation of the bounding box. More...
 
yarp::sig::Vector getDim ()
 Return the dimension of the principal axes, in the same order of the getAxis method. More...
 
void getAxis (yarp::sig::Vector &x, yarp::sig::Vector &y, yarp::sig::Vector &z)
 Provide the principal axes of the bounding box. More...
 
yarp::sig::Vector getCenter ()
 Return the center of the bounding box. More...
 
void drawBoundingBox (boost::shared_ptr< pcl::visualization::PCLVisualizer > viewer, int viewport=0)
 Draw a 3D box in a PCLVisualizer window. More...
 

Detailed Description

The Definition of the BoundingBox class.

Definition at line 61 of file boundingBox.h.

Constructor & Destructor Documentation

§ BoundingBox()

BoundingBox::BoundingBox ( const iCub::data3D::Box3D &  boundingBox)

Constructor.

Parameters
boundingBoxa Box3D object can be set directly in the constructor.

Definition at line 27 of file boundingBox.cpp.

28 {
29  this->boundingBox.corners=boundingBox.corners;
30  this->boundingBox.orientation=boundingBox.orientation;
31 }

Member Function Documentation

§ drawBoundingBox()

void BoundingBox::drawBoundingBox ( boost::shared_ptr< pcl::visualization::PCLVisualizer >  viewer,
int  viewport = 0 
)

Draw a 3D box in a PCLVisualizer window.

Parameters
viewerthe PCLVisualizer window where the 3D box has to be drawn.
viewportthe viewport inside the PCLVisualizer where the 3D box has to be drawn.

Definition at line 176 of file boundingBox.cpp.

Referenced by BoundingBox().

177 {
178  pcl::PointXYZRGB point1;
179  point1.x=boundingBox.corners[0].x;
180  point1.y=boundingBox.corners[0].y;
181  point1.z=boundingBox.corners[0].z;
182  point1.r=255;
183  point1.g=0;
184  point1.b=0;
185  pcl::PointXYZRGB point2;
186  point2.x=boundingBox.corners[1].x;
187  point2.y=boundingBox.corners[1].y;
188  point2.z=boundingBox.corners[1].z;
189  point2.r=255;
190  point2.g=0;
191  point2.b=0;
192  pcl::PointXYZRGB point3;
193  point3.x=boundingBox.corners[2].x;
194  point3.y=boundingBox.corners[2].y;
195  point3.z=boundingBox.corners[2].z;
196  point3.r=255;
197  point3.g=0;
198  point3.b=0;
199  pcl::PointXYZRGB point4;
200  point4.x=boundingBox.corners[3].x;
201  point4.y=boundingBox.corners[3].y;
202  point4.z=boundingBox.corners[3].z;
203  point4.r=255;
204  point4.g=0;
205  point4.b=0;
206  pcl::PointXYZRGB point5;
207  point5.x=boundingBox.corners[4].x;
208  point5.y=boundingBox.corners[4].y;
209  point5.z=boundingBox.corners[4].z;
210  point5.r=255;
211  point5.g=0;
212  point5.b=0;
213  pcl::PointXYZRGB point6;
214  point6.x=boundingBox.corners[5].x;
215  point6.y=boundingBox.corners[5].y;
216  point6.z=boundingBox.corners[5].z;
217  point6.r=255;
218  point6.g=0;
219  point6.b=0;
220  pcl::PointXYZRGB point7;
221  point7.x=boundingBox.corners[6].x;
222  point7.y=boundingBox.corners[6].y;
223  point7.z=boundingBox.corners[6].z;
224  point7.r=255;
225  point7.g=0;
226  point7.b=0;
227  pcl::PointXYZRGB point8;
228  point8.x=boundingBox.corners[7].x;
229  point8.y=boundingBox.corners[7].y;
230  point8.z=boundingBox.corners[7].z;
231  point8.r=255;
232  point8.g=0;
233  point8.b=0;
234 
235  Vector centerroot=getCenter();
236  Vector vectxroot,vectyroot,vectzroot;
237  getAxis(vectxroot,vectyroot,vectzroot);
238 
239  pcl::PointXYZ z1;
240  z1.x=centerroot[0]+(vectzroot[0]/2);
241  z1.y=centerroot[1]+(vectzroot[1]/2);
242  z1.z=centerroot[2]+(vectzroot[2]/2);
243 
244  pcl::PointXYZ z2;
245  z2.x=centerroot[0]+(-vectzroot[0]/2);
246  z2.y=centerroot[1]+(-vectzroot[1]/2);
247  z2.z=centerroot[2]+(-vectzroot[2]/2);
248 
249  pcl::PointXYZ y1;
250  y1.x=centerroot[0]+(vectyroot[0]/2);
251  y1.y=centerroot[1]+(vectyroot[1]/2);
252  y1.z=centerroot[2]+(vectyroot[2]/2);
253 
254  pcl::PointXYZ y2;
255  y2.x=centerroot[0]+(-vectyroot[0]/2);
256  y2.y=centerroot[1]+(-vectyroot[1]/2);
257  y2.z=centerroot[2]+(-vectyroot[2]/2);
258 
259  pcl::PointXYZ x1;
260  x1.x=centerroot[0]+(vectxroot[0]/2);
261  x1.y=centerroot[1]+(vectxroot[1]/2);
262  x1.z=centerroot[2]+(vectxroot[2]/2);
263 
264  pcl::PointXYZ x2;
265  x2.x=centerroot[0]+(-vectxroot[0]/2);
266  x2.y=centerroot[1]+(-vectxroot[1]/2);
267  x2.z=centerroot[2]+(-vectxroot[2]/2);
268 
269  pcl::PointXYZ center(centerroot[0],centerroot[1],centerroot[2]);
270 
271  if (viewport==0)
272  {
273  viewer->addLine<pcl::PointXYZRGB>(point1,point2,"line1");
274  viewer->addLine<pcl::PointXYZRGB>(point2,point3,"line2");
275  viewer->addLine<pcl::PointXYZRGB>(point3,point4,"line3");
276  viewer->addLine<pcl::PointXYZRGB>(point4,point1,"line4");
277  viewer->addLine<pcl::PointXYZRGB>(point5,point6,"line5");
278  viewer->addLine<pcl::PointXYZRGB>(point6,point7,"line6");
279  viewer->addLine<pcl::PointXYZRGB>(point7,point8,"line7");
280  viewer->addLine<pcl::PointXYZRGB>(point8,point5,"line8");
281  viewer->addLine<pcl::PointXYZRGB>(point1,point5,"line9");
282  viewer->addLine<pcl::PointXYZRGB>(point2,point6,"line10");
283  viewer->addLine<pcl::PointXYZRGB>(point3,point7,"line11");
284  viewer->addLine<pcl::PointXYZRGB>(point4,point8,"line12");
285 
286  viewer->addArrow<pcl::PointXYZ,pcl::PointXYZ>(z1,center,1,1,1,1,"z1");
287  viewer->addArrow<pcl::PointXYZ,pcl::PointXYZ>(z2,center,1,1,1,1,"z2");
288  viewer->addArrow<pcl::PointXYZ,pcl::PointXYZ>(y1,center,1,1,1,1,"y1");
289  viewer->addArrow<pcl::PointXYZ,pcl::PointXYZ>(y2,center,1,1,1,1,"y2");
290  viewer->addArrow<pcl::PointXYZ,pcl::PointXYZ>(x1,center,1,1,1,1,"x1");
291  viewer->addArrow<pcl::PointXYZ,pcl::PointXYZ>(x2,center,1,1,1,1,"x2");
292  }
293  else
294  {
295  viewer->addLine<pcl::PointXYZRGB>(point1,point2,"line1",viewport);
296  viewer->addLine<pcl::PointXYZRGB>(point2,point3,"line2",viewport);
297  viewer->addLine<pcl::PointXYZRGB>(point3,point4,"line3",viewport);
298  viewer->addLine<pcl::PointXYZRGB>(point4,point1,"line4",viewport);
299  viewer->addLine<pcl::PointXYZRGB>(point5,point6,"line5",viewport);
300  viewer->addLine<pcl::PointXYZRGB>(point6,point7,"line6",viewport);
301  viewer->addLine<pcl::PointXYZRGB>(point7,point8,"line7",viewport);
302  viewer->addLine<pcl::PointXYZRGB>(point8,point5,"line8",viewport);
303  viewer->addLine<pcl::PointXYZRGB>(point1,point5,"line9",viewport);
304  viewer->addLine<pcl::PointXYZRGB>(point2,point6,"line10",viewport);
305  viewer->addLine<pcl::PointXYZRGB>(point3,point7,"line11",viewport);
306  viewer->addLine<pcl::PointXYZRGB>(point4,point8,"line12",viewport);
307 
308  viewer->addArrow<pcl::PointXYZ,pcl::PointXYZ>(z1,center,0,0,1,1,"z1",viewport);
309  viewer->addArrow<pcl::PointXYZ,pcl::PointXYZ>(z2,center,0,0,1,1,"z2",viewport);
310  viewer->addArrow<pcl::PointXYZ,pcl::PointXYZ>(y1,center,0,1,0,1,"y1",viewport);
311  viewer->addArrow<pcl::PointXYZ,pcl::PointXYZ>(y2,center,0,1,0,1,"y2",viewport);
312  viewer->addArrow<pcl::PointXYZ,pcl::PointXYZ>(x1,center,1,0,0,1,"x1",viewport);
313  viewer->addArrow<pcl::PointXYZ,pcl::PointXYZ>(x2,center,1,0,0,1,"x2",viewport);
314  }
315 }
iCub::data3D::BoundingBox::getCenter
yarp::sig::Vector getCenter()
Return the center of the bounding box.
Definition: boundingBox.cpp:155
iCub::data3D::BoundingBox::getAxis
void getAxis(yarp::sig::Vector &x, yarp::sig::Vector &y, yarp::sig::Vector &z)
Provide the principal axes of the bounding box.
Definition: boundingBox.cpp:119

§ getAxis()

void BoundingBox::getAxis ( yarp::sig::Vector &  x,
yarp::sig::Vector &  y,
yarp::sig::Vector &  z 
)

Provide the principal axes of the bounding box.

Parameters
xfirst principal axis of the bounding box.
ysecond principal axis of the bounding box.
zthird principal axis of the bounding box.

Definition at line 119 of file boundingBox.cpp.

Referenced by BoundingBox().

120 {
121  Matrix corner_i=convertCorners();
122  yarp::sig::Vector indexes=findIndexes(corner_i);
123 
124  yarp::sig::Vector point1(3); point1[0]=corner_i(0,0); point1[1]=corner_i(0,1); point1[2]=corner_i(0,2);
125 
126  yarp::sig::Vector index0(3); index0[0]=corner_i(indexes[0],0); index0[1]=corner_i(indexes[0],1); index0[2]=corner_i(indexes[0],2);
127  yarp::sig::Vector index1(3); index1[0]=corner_i(indexes[1],0); index1[1]=corner_i(indexes[1],1); index1[2]=corner_i(indexes[1],2);
128  yarp::sig::Vector index2(3); index2[0]=corner_i(indexes[2],0); index2[1]=corner_i(indexes[2],1); index2[2]=corner_i(indexes[2],2);
129 
130  yarp::sig::Vector vectz=point1-index0;
131  z=vectz*boundingBox.orientation.transposed();
132  yarp::sig::Vector vecty=point1-index1;
133  y=vecty*boundingBox.orientation.transposed();
134  yarp::sig::Vector vectx=point1-index2;
135  x=vectx*boundingBox.orientation.transposed();
136 }

§ getBoundingBox()

iCub::data3D::Box3D BoundingBox::getBoundingBox ( )

Return the Box3D structure underline the bounding box.

Returns
the Box3D.

Definition at line 34 of file boundingBox.cpp.

Referenced by BoundingBox().

35 {
36  return this->boundingBox;
37 }

§ getCenter()

Vector BoundingBox::getCenter ( )

Return the center of the bounding box.

Returns
a vector representing the center of the bounding box.

Definition at line 155 of file boundingBox.cpp.

Referenced by BoundingBox().

156 {
157  Matrix corner_i=convertCorners();
158  yarp::sig::Vector indexes=findIndexes(corner_i);
159 
160  yarp::sig::Vector point1(3); point1[0]=corner_i(0,0); point1[1]=corner_i(0,1); point1[2]=corner_i(0,2);
161 
162  yarp::sig::Vector index0(3); index0[0]=corner_i(indexes[0],0); index0[1]=corner_i(indexes[0],1); index0[2]=corner_i(indexes[0],2);
163  yarp::sig::Vector index1(3); index1[0]=corner_i(indexes[1],0); index1[1]=corner_i(indexes[1],1); index1[2]=corner_i(indexes[1],2);
164  yarp::sig::Vector index2(3); index2[0]=corner_i(indexes[2],0); index2[1]=corner_i(indexes[2],1); index2[2]=corner_i(indexes[2],2);
165 
166  yarp::sig::Vector center(3);
167  center[2]=(point1[2]+index0[2])/2;
168  center[1]=(point1[1]+index1[1])/2;
169  center[0]=(point1[0]+index2[0])/2;
170 
171  yarp::sig::Vector centerroot=center*boundingBox.orientation.transposed();
172  return centerroot;
173 }

§ getCorners()

std::vector< iCub::data3D::PointXYZ > BoundingBox::getCorners ( )

Return the corners of the Box3D structure.

Returns
a vector of the 8 corners of the bounding box in 3D.

Definition at line 47 of file boundingBox.cpp.

Referenced by BoundingBox().

48 {
49  return this->boundingBox.corners;
50 }

§ getDim()

Vector BoundingBox::getDim ( )

Return the dimension of the principal axes, in the same order of the getAxis method.

Returns
a vector containing the dimension of the three principal axes of the bounding box.

Definition at line 139 of file boundingBox.cpp.

Referenced by BoundingBox().

140 {
141  Matrix corner_i=convertCorners();
142  yarp::sig::Vector indexes=findIndexes(corner_i);
143 
144  yarp::sig::Vector point1(3); point1[0]=corner_i(0,0); point1[1]=corner_i(0,1); point1[2]=corner_i(0,2);
145 
146  Vector dim(3);
147  dim[2]=max(point1[2],corner_i(indexes[0],2))-min(point1[2],corner_i(indexes[0],2));
148  dim[1]=max(point1[1],corner_i(indexes[1],1))-min(point1[1],corner_i(indexes[1],1));
149  dim[0]=max(point1[0],corner_i(indexes[2],0))-min(point1[0],corner_i(indexes[2],0));
150 
151  return dim;
152 }

§ getOrientation()

yarp::sig::Matrix BoundingBox::getOrientation ( )

Return the orientation of the Box3D structure.

Returns
a the orientation matrix of the bounding box.

Definition at line 59 of file boundingBox.cpp.

Referenced by BoundingBox(), and iCub::data3D::MinimumBoundingBox::getMinimumBoundingBox().

60 {
61  return this->boundingBox.orientation;
62 }

§ setBoundingBox()

void BoundingBox::setBoundingBox ( const iCub::data3D::Box3D &  boundingBox)

Set a Box3D inside the BoundingBox wrapper.

Parameters
boundingBoxthe set Box3D object.

Definition at line 40 of file boundingBox.cpp.

Referenced by BoundingBox().

41 {
42  this->boundingBox.corners=boundingBox.corners;
43  this->boundingBox.orientation=boundingBox.orientation;
44 }

§ setCorners()

void BoundingBox::setCorners ( const std::vector< iCub::data3D::PointXYZ > &  corners)

Set the corners of the bounding box.

Parameters
cornersa vector of the 8 corners of the bounding box in 3D.

Definition at line 53 of file boundingBox.cpp.

Referenced by BoundingBox(), and iCub::data3D::MinimumBoundingBox::getMinimumBoundingBox().

54 {
55  this->boundingBox.corners=corners;
56 }

§ setOrientation()

void BoundingBox::setOrientation ( const yarp::sig::Matrix &  orientation)

Modify the orientation of the bounding box.

Parameters
orientationthe orientation matrix of the bounding box.

Definition at line 65 of file boundingBox.cpp.

Referenced by BoundingBox(), and iCub::data3D::MinimumBoundingBox::getMinimumBoundingBox().

66 {
67  this->boundingBox.orientation=orientation;
68 }
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