int algDirICP_StdICP_Mesh::DatumMightBeCloser(
const vct3 &v, const vct3 &n,
int datum,
double ErrorBound)
{
// TODO: is it significantly faster to pre-compute bounding
// boxes within the mesh object?
// create bounding box around triangle
BoundingBox BB;
vct3 v1, v2, v3;
pDirTree->mesh.FaceCoords(datum, v1, v2, v3);
BB.Include(v1);
BB.Include(v2);
BB.Include(v3);
// We want to know if this point can produce a cost less than the
// error bound. Error bound is the best cost we have so far.
return BB.Includes(v, ErrorBound);
}
void PDTree_PointCloud::EnlargeBounds(const vctFrm3& F, int datum, BoundingBox& BB) const
{
BB.Include(F*pointCloud.points.Element(datum));
}