smallest_bounding_box_object_model_3d — Calculate the smallest bounding box around the points of a
3D object model.
smallest_bounding_box_object_model_3d calculates the smallest
bounding box around the points of a 3D object model.
The resulting bounding box is described using its coordinate system
Pose), which is oriented such that the longest side of the
box is aligned with the x-axis, the second longest side is aligned with
the y-axis and the smallest side is aligned with the z-axis.
The lengths of the sides are returned in
Length3, in descending order.
The box can be either axis-aligned or oriented, which can be chosen by the
Type. The algorithm for 'oriented' is
computationally significantly more costly than the algorithm for
'axis_aligned', and returns only an approximation of the
oriented bounding box. Note the the algorithm for the oriented bounding
box is randomized and can return a different box for each call.
In order to retrieve the corners of the 'axis_aligned' box,
get_object_model_3d_params can be used with the
Handle of the 3D object model.
The method that is used to estimate the smallest box.
Default value: 'oriented'
List of values: 'axis_aligned', 'oriented'
→(real / integer)
The pose that describes the position and orientation of the box that is generated. The pose has its origin in the center of the box and is oriented such that the x-axis is aligned with the longest side of the box.
The length of the longest side of the box.
Number of elements: Length1 == ObjectModel3D
The length of the second longest side of the box.
Number of elements: Length2 == ObjectModel3D
The length of the third longest side of the box.
Number of elements: Length3 == ObjectModel3D
gen_object_model_3d_from_points (rand(20), rand(20), rand(20), \ ObjectModel3D) smallest_bounding_box_object_model_3d (ObjectModel3D, 'oriented', \ Pose, Length1, Length2, Length3) gen_box_object_model_3d (Pose, Length1, Length2, Length3, ObjectModel3D1) dev_get_window (WindowHandle) visualize_object_model_3d (WindowHandle, [ObjectModel3D,ObjectModel3D1], \ , , ['alpha_1'], [0.5], , , , PoseOut)
smallest_bounding_box_object_model_3d returns 2 (H_MSG_TRUE) if all parameters
are correct. If necessary, an exception is raised.