00001 // This is core/vgl/algo/vgl_orient_box_3d_operators.txx 00002 #ifndef vgl_orient_box_3d_operators_txx_ 00003 #define vgl_orient_box_3d_operators_txx_ 00004 //: 00005 // \file 00006 00007 #include "vgl_orient_box_3d_operators.h" 00008 #include <vnl/vnl_quaternion.h> 00009 #include <vnl/vnl_vector_fixed.h> 00010 #include <vcl_cassert.h> 00011 00012 template <class T> 00013 vgl_orient_box_3d<T> 00014 vgl_orient_box_3d_operators<T>::minimal_box(vcl_vector<vgl_point_3d<T> > const& plist) 00015 { 00016 if (plist.size() == 0) 00017 return vgl_box_3d<T>(); // an empty box 00018 else if (plist.size() == 1) 00019 return vgl_orient_box_3d_operators<T>::minimal_box(plist.front()); 00020 else if (plist.size() == 2) 00021 { 00022 vgl_box_3d<T> bb; bb.add(plist.front()); 00023 vgl_vector_3d<T> dir = plist.back() - plist.front(); 00024 vgl_vector_3d<T> rot_dir = vgl_vector_3d<T>(T(dir.length()), T(0), T(0)); 00025 bb.add(plist.front() + rot_dir); 00026 vnl_quaternion<double> orient(vnl_vector_fixed<double,3>(dir.x(), dir.y(), dir.z()), 0.0); 00027 return vgl_orient_box_3d<T>(bb, orient); 00028 } 00029 else 00030 assert(!"Not yet implemented minimal_box() for more than 2 points"); 00031 return vgl_box_3d<T>(); // return an empty box in case of error 00032 } 00033 00034 #undef VGL_ORIENT_BOX_3D_OPERATORS_INSTANTIATE 00035 #define VGL_ORIENT_BOX_3D_OPERATORS_INSTANTIATE(T) \ 00036 template class vgl_orient_box_3d_operators<T > 00037 00038 #endif // vgl_orient_box_3d_operators_txx_
1.7.5.1