ADD: bounding box member for DFPointCloud class

Author: DamienGilliard

src/diffCheck/geometry/DFPointCloud.cc

@@ -45,6 +45,16 @@ namespace diffCheck::geometry
         return distances;
     }
 
+    std::vector<Eigen::Vector3d> DFPointCloud::ComputeBoundingBox()
+    {
+        auto O3DPointCloud = this->Cvt2O3DPointCloud();
+        auto boundingBox = O3DPointCloud->GetAxisAlignedBoundingBox();
+        std::vector<Eigen::Vector3d> extremePoints;
+        extremePoints.push_back(boundingBox.GetMinBound());
+        extremePoints.push_back(boundingBox.GetMaxBound());
+        this->BoundingBox = extremePoints;
+        return extremePoints;
+    }   
     void DFPointCloud::ApplyTransformation(const diffCheck::transformation::DFTransformation &transformation)
     {
         auto O3DPointCloud = this->Cvt2O3DPointCloud();

src/diffCheck/geometry/DFPointCloud.hh

@@ -44,6 +44,13 @@ namespace diffCheck::geometry
         */
         std::vector<double> ComputeP2PDistance(std::shared_ptr<geometry::DFPointCloud> target);
 
+        /**
+         * @brief Compute the bounding box of the point cloud and stores it as member of the DFPointCloud object
+         * 
+         * @return std::vector<Eigen::Vector3d> A vector of two Eigen::Vector3d, with the first one being the minimum point and the second one the maximum point of the bounding box.
+        */
+        std::vector<Eigen::Vector3d> ComputeBoundingBox();
+
     public:  ///< Transformers
         /**
          * @brief Apply a transformation to the point cloud
@@ -75,5 +82,7 @@ namespace diffCheck::geometry
         std::vector<Eigen::Vector3d> Colors;
         /// @brief Eigen vector of 3D normals
         std::vector<Eigen::Vector3d> Normals;
+        /// @brief Eigen vector of two 3D vectors forming the bounnding box.
+        std::vector<Eigen::Vector3d> BoundingBox;
     };
 } // namespace diffCheck::geometry