Bounding Boxes

Now that you know how point cloud clustering works, we will return to the main project code. In this next exercise, you will add bounding boxes to the point cloud clusters that you previously found.

As a final touch, you can add bounding boxes around the clusters. The bounding box volume could also be thought of as space the car is not allowed to enter, or it would result in a collision. Your point processor already has a bounding box function all set up. This function is already predefined since it’s doing a very simple technique for generating a box. The function BoundingBox looks at the min and max point values of an input cloud and stores those parameters in a box struct container. To render bounding boxes around your clusters you can can add the following code inside the loop that renders clusters in environment.cpp .

Box box = pointProcessor->BoundingBox(cluster);
renderBox(viewer,box,clusterId);

The results of doing this are shown in the image above.

Instructions

• In src/environment.cpp add the renderBox function to render boxes around clusters

Solution