Skip to content

calculate bounding box center from dims #5476

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Draft
DTCurrie wants to merge 1 commit into
base: main
Choose a base branch
from
Draft

calculate bounding box center from dims #5476

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 1 addition & 4 deletions pointcloud/pointcloud_utils.go
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,10 +24,7 @@ func BoundingBoxFromPointCloudWithLabel(cloud PointCloud, label string) (spatial
// calculate extents of point cloud
meta := cloud.MetaData()
dims := r3.Vector{math.Abs(meta.MaxX - meta.MinX), math.Abs(meta.MaxY - meta.MinY), math.Abs(meta.MaxZ - meta.MinZ)}

// calculate the spatial average center of a given point cloud
n := float64(cloud.Size())
mean := r3.Vector{meta.TotalX() / n, meta.TotalY() / n, meta.TotalZ() / n}
mean := r3.Vector{dims.X / 2, dims.Y / 2, dims.Z / 2}
Copy link
Member

@bhaney bhaney Nov 12, 2025 •
edited
Loading

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

you shouldn't use dims, as that is an the absolute value of the distance between the max and min. What you are looking for is the point inbetween the max and min, which would be

center := r3.Vector{(meta.MaxX + meta.MinX)/2.0, (meta.MaxY + meta.MinY)/2.0, (meta.MaxZ + meta.MinZ)/2.0}

Copy link
Member

@bhaney bhaney Nov 12, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

for example, if MaxX was -2, and MinX was -5,
dim/2 = 1.5 (half of the length of X)
center = -3.5 (the center point between -2 and -5)

Copy link
Member Author

@DTCurrie DTCurrie Nov 13, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I just put this up for @micheal-parks to discuss with you, but happy to make that change if we think that's more accurate!


// calculate the dimensions of the bounding box formed by finding the dimensions of each axes' extrema
return spatialmath.NewBox(spatialmath.NewPoseFromPoint(mean), dims, label)
Expand Down
Loading