def get_bbox(pc, pose=None):
'''
get the bounding box for the point cloud
if a pose is provided then it will find the bbox
for the data aligned to that pose
return: bbox array
|xmin, xmax|
|ymin, ymax|
|zmin, zmax|
'''
pts = ru.to_array(pc)
if pose != None:
ps = ru.to_PoseStamped(pose)
ps_wrtPC = ru.transformPose(ru.get_frame_id(pc), ps)
T = tr.rospose2tr(ps_wrtPC.pose)
pts = np.dot(np.linalg.inv(T), np.vstack(
(pts.T, np.ones(pts.shape[0])))).T
pmin = np.min(pts[:, :3], axis=0)
pmax = np.max(pts[:, :3], axis=0)
bbox = np.array([pmin, pmax]).T
return bbox
def get_bbox(pc, pose=None):
'''
get the bounding box for the point cloud
if a pose is provided then it will find the bbox
for the data aligned to that pose
return: bbox array
|xmin, xmax|
|ymin, ymax|
|zmin, zmax|
'''
pts = ru.to_array(pc);
if pose != None:
ps = ru.to_PoseStamped(pose);
ps_wrtPC = ru.transformPose(ru.get_frame_id(pc), ps);
T = tr.rospose2tr(ps_wrtPC.pose);
pts = np.dot(np.linalg.inv(T), np.vstack((pts.T, np.ones(pts.shape[0])))).T;
pmin = np.min(pts[:,:3], axis=0);
pmax = np.max(pts[:,:3], axis=0);
bbox = np.array([pmin, pmax]).T;
return bbox;
