> In my case I have the vertex points (x,y,z) that create
> the oriented bounding box (OBB). I just want to use the
> function "contains" of the vgl_orient_box_3d class
> to find out if some points are inside or outside the
> above mentioned OBB.
If I understand well, your three points (x,y,z), as seen from the origin, are mutually orthogonal. In that case they indeed define an oriented bounding box, and you have to determine the rotation quaternion that makes the three vectors (x,y,z) axisparallel.
A constructor should be added to vgl_orient_box_3d which takes 4 corner points (in your case, the points (0,0,0), x, y, z). That would simplify things for your case.
Look at the vnl_quaternion constructor from a 3x3 transformation matrix. That matrix should have normone and mutually orthogonal rows.
 Peter.
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