Add new virtual method CMetricMap::boundingBox()

doc/source/doxygen-docs/changelog.md

@@ -9,6 +9,7 @@
       - All classes derived from mrpt::maps::CVoxelMapOccupancyBase
       - mrpt::maps::COccupancyGridMap2D
       - mrpt::maps::COccupancyGridMap2D
+    - New virtual method mrpt::maps::CMetricMap::boundingBox()
   - \ref mrpt_core_grp
     - Add the `[[nodiscard]]` attribute to all functions returning a value in `<mrpt/core/bits_math.h>`
 

libs/maps/include/mrpt/maps/COccupancyGridMap2D.h

@@ -328,6 +328,13 @@ class COccupancyGridMap2D
 		return static_cast<int>((y - ymin) / m_resolution);
 	}
 
+	mrpt::math::TBoundingBoxf boundingBox() const override
+	{
+		return {
+			{m_xMin, m_yMin, insertionOptions.mapAltitude},
+			{m_xMax, m_yMax, insertionOptions.mapAltitude}};
+	}
+
 	/** Scales an integer representation of the log-odd into a real valued
 	 * probability in [0,1], using p=exp(l)/(1+exp(l))  */
 	static inline float l2p(const cellType l)

libs/maps/include/mrpt/maps/COccupancyGridMap3D.h

@@ -206,6 +206,15 @@ class COccupancyGridMap3D
 	void getVisualizationInto(
 		mrpt::opengl::CSetOfObjects& outObj) const override;
 
+	mrpt::math::TBoundingBoxf boundingBox() const override
+	{
+		return {
+			mrpt::math::TPoint3Df(
+				m_grid.getXMin(), m_grid.getYMin(), m_grid.getZMin()),
+			mrpt::math::TPoint3Df(
+				m_grid.getXMax(), m_grid.getYMax(), m_grid.getZMax())};
+	}
+
 	/** With this struct options are provided to the observation insertion
 	 * process.
 	 * \sa CObservation::insertIntoGridMap */

libs/maps/include/mrpt/maps/CPointsMap.h

@@ -931,7 +931,7 @@ class CPointsMap : public CMetricMap,
 	 *  Results are cached unless the map is somehow modified to avoid repeated
 	 * calculations.
 	 */
-	mrpt::math::TBoundingBoxf boundingBox() const;
+	mrpt::math::TBoundingBoxf boundingBox() const override;
 
 	/** Extracts the points in the map within a cylinder in 3D defined the
 	 * provided radius and zmin/zmax values.

libs/maps/include/mrpt/maps/CVoxelMapOccupancyBase.h

@@ -16,6 +16,7 @@
 #include <mrpt/maps/NearestNeighborsCapable.h>
 #include <mrpt/maps/OccupancyGridCellType.h>
 #include <mrpt/maps/logoddscell_traits.h>
+#include <mrpt/math/TBoundingBox.h>
 #include <mrpt/obs/obs_frwds.h>
 
 namespace mrpt::maps
@@ -174,7 +175,7 @@ class CVoxelMapOccupancyBase : public CVoxelMapBase<voxel_node_t>,
 	/** This visits all cells to calculate a bounding box, caching the result
 	 *  so subsequent calls are cheap until the voxelmap is changed in some way.
 	 */
-	mrpt::math::TBoundingBox getBoundingBox() const;
+	mrpt::math::TBoundingBoxf boundingBox() const override;
 
 	/// The options used when inserting observations in the map:
 	TVoxelMap_InsertionOptions insertionOptions;
@@ -346,7 +347,7 @@ class CVoxelMapOccupancyBase : public CVoxelMapBase<voxel_node_t>,
 
 	void updateCachedProperties() const;
 	mutable mrpt::maps::CSimplePointsMap::Ptr m_cachedOccupied;
-	mutable mrpt::math::TBoundingBox m_bbox;
+	mutable mrpt::math::TBoundingBoxf m_bbox;
 };
 
 // ============= Implementations ===============
@@ -377,7 +378,7 @@ void CVoxelMapOccupancyBase<voxel_node_t, occupancy_t>::getAsOctoMapVoxels(
 	auto& grid =
 		const_cast<Bonxai::VoxelGrid<voxel_node_t>&>(base_t::m_impl->grid);
 
-	const mrpt::math::TBoundingBox bbox = this->getBoundingBox();
+	const mrpt::math::TBoundingBoxf bbox = this->boundingBox();
 	double bbox_span_z = bbox.max.z - bbox.min.z;
 	if (bbox_span_z < 0) bbox_span_z = 1;
 	const double bbox_span_z_inv = 1.0 / bbox_span_z;
@@ -675,7 +676,7 @@ void CVoxelMapOccupancyBase<voxel_node_t, occupancy_t>::updateCachedProperties()
 	if (m_cachedOccupied) return;  // done
 
 	m_cachedOccupied = mrpt::maps::CSimplePointsMap::Create();
-	m_bbox = mrpt::math::TBoundingBox::PlusMinusInfinity();
+	m_bbox = mrpt::math::TBoundingBoxf::PlusMinusInfinity();
 
 	// forEachCell() has no const version
 	auto& grid =
@@ -703,7 +704,7 @@ void CVoxelMapOccupancyBase<voxel_node_t, occupancy_t>::updateCachedProperties()
 	grid.forEachCell(lmbdPerVoxel);
 
 	// If no cell is active, use default bbox:
-	if (m_bbox == mrpt::math::TBoundingBox::PlusMinusInfinity()) m_bbox = {};
+	if (m_bbox == mrpt::math::TBoundingBoxf::PlusMinusInfinity()) m_bbox = {};
 }
 
 template <typename voxel_node_t, typename occupancy_t>
@@ -715,8 +716,8 @@ mrpt::maps::CSimplePointsMap::Ptr
 }
 
 template <typename voxel_node_t, typename occupancy_t>
-mrpt::math::TBoundingBox
-	CVoxelMapOccupancyBase<voxel_node_t, occupancy_t>::getBoundingBox() const
+mrpt::math::TBoundingBoxf
+	CVoxelMapOccupancyBase<voxel_node_t, occupancy_t>::boundingBox() const
 {
 	updateCachedProperties();
 	return m_bbox;

libs/obs/include/mrpt/maps/CMetricMap.h

@@ -12,6 +12,7 @@
 #include <mrpt/maps/CMetricMapEvents.h>
 #include <mrpt/maps/TMetricMapInitializer.h>
 #include <mrpt/maps/metric_map_types.h>
+#include <mrpt/math/TBoundingBox.h>
 #include <mrpt/math/math_frwds.h>
 #include <mrpt/obs/CObservation.h>
 #include <mrpt/obs/obs_frwds.h>
@@ -113,6 +114,15 @@ class CMetricMap : public mrpt::serialization::CSerializable,
 	 */
 	virtual bool isEmpty() const = 0;
 
+	/** Returns the bounding box of the metric map, or (0,0,0)-(0,0,0) (the
+	 * default value of mrpt::math::TBoundingBoxf() if not implemented in the
+	 * derived class or the map is empty.
+	 */
+	virtual auto boundingBox() const -> mrpt::math::TBoundingBoxf
+	{
+		return {};	// default impl: no bbox
+	}
+
 	/** Load the map contents from a CSimpleMap object, erasing all previous
 	 * content of the map. This is done invoking `insertObservation()` for each
 	 * observation at the mean 3D robot pose of each pose-observations pair in

libs/opengl/src/CPointCloud.cpp

@@ -491,5 +491,4 @@ void CPointCloud::toYAMLMap(mrpt::containers::yaml& propertiesMap) const
 {
 	CRenderizable::toYAMLMap(propertiesMap);
 	propertiesMap["point_count"] = m_points.size();
-	propertiesMap["bounding_box"] = this->getBoundingBox().asString();
 }