Method computeBoundingBox

filters/private/csf/point_cloud.cpp:21–40

void csf::PointCloud::computeBoundingBox(Point& bbMin, Point& bbMax) {
    if (empty()) {
        bbMin = bbMax = Point();
        return;
    }

    bbMin = bbMax = at(0);

    for (std::size_t i = 1; i < size(); i++) { // zwm
        const csf::Point& P = at(i);

        for (int d = 0; d < 3; ++d) {
            if (P.u[d] < bbMin.u[d]) {
                bbMin.u[d] = P.u[d];
            } else if (P.u[d] > bbMax.u[d]) {
                bbMax.u[d] = P.u[d];
            }
        }
    }
}