| 90 | } |
| 91 | |
| 92 | pdal::BOX3D Scan::getBoundingBox() const |
| 93 | { |
| 94 | if (!hasPose()) |
| 95 | { |
| 96 | return m_bbox; |
| 97 | } |
| 98 | |
| 99 | auto bmin = transformPoint({m_bbox.minx,m_bbox.miny,m_bbox.minz}); |
| 100 | auto bmax = transformPoint({m_bbox.maxx,m_bbox.maxy,m_bbox.maxz}); |
| 101 | return pdal::BOX3D(bmin[0],bmin[1],bmin[2],bmax[0],bmax[1],bmax[2]); |
| 102 | } |
| 103 | |
| 104 | void Scan::decodeHeader() |
| 105 | { |