Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the copyright holder(s) nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id$ 00035 * 00036 */ 00037 00038 #ifndef PCL_COMMON_H_ 00039 #define PCL_COMMON_H_ 00040 00041 #include <pcl/pcl_base.h> 00042 #include <cfloat> 00043 00044 /** 00045 * \file pcl/common/common.h 00046 * Define standard C methods and C++ classes that are common to all methods 00047 * \ingroup common 00048 */ 00049 00050 /*@{*/ 00051 namespace pcl 00052 { 00053 /** \brief Compute the smallest angle between two vectors in the [ 0, PI ) interval in 3D. 00054 * \param v1 the first 3D vector (represented as a \a Eigen::Vector4f) 00055 * \param v2 the second 3D vector (represented as a \a Eigen::Vector4f) 00056 * \return the angle between v1 and v2 00057 * \ingroup common 00058 */ 00059 inline double 00060 getAngle3D (const Eigen::Vector4f &v1, const Eigen::Vector4f &v2); 00061 00062 /** \brief Compute both the mean and the standard deviation of an array of values 00063 * \param values the array of values 00064 * \param mean the resultant mean of the distribution 00065 * \param stddev the resultant standard deviation of the distribution 00066 * \ingroup common 00067 */ 00068 inline void 00069 getMeanStd (const std::vector<float> &values, double &mean, double &stddev); 00070 00071 /** \brief Get a set of points residing in a box given its bounds 00072 * \param cloud the point cloud data message 00073 * \param min_pt the minimum bounds 00074 * \param max_pt the maximum bounds 00075 * \param indices the resultant set of point indices residing in the box 00076 * \ingroup common 00077 */ 00078 template <typename PointT> inline void 00079 getPointsInBox (const pcl::PointCloud<PointT> &cloud, Eigen::Vector4f &min_pt, 00080 Eigen::Vector4f &max_pt, std::vector<int> &indices); 00081 00082 /** \brief Get the point at maximum distance from a given point and a given pointcloud 00083 * \param cloud the point cloud data message 00084 * \param pivot_pt the point from where to compute the distance 00085 * \param max_pt the point in cloud that is the farthest point away from pivot_pt 00086 * \ingroup common 00087 */ 00088 template<typename PointT> inline void 00089 getMaxDistance (const pcl::PointCloud<PointT> &cloud, const Eigen::Vector4f &pivot_pt, Eigen::Vector4f &max_pt); 00090 00091 /** \brief Get the point at maximum distance from a given point and a given pointcloud 00092 * \param cloud the point cloud data message 00093 * \param pivot_pt the point from where to compute the distance 00094 * \param indices the vector of point indices to use from \a cloud 00095 * \param max_pt the point in cloud that is the farthest point away from pivot_pt 00096 * \ingroup common 00097 */ 00098 template<typename PointT> inline void 00099 getMaxDistance (const pcl::PointCloud<PointT> &cloud, const std::vector<int> &indices, 00100 const Eigen::Vector4f &pivot_pt, Eigen::Vector4f &max_pt); 00101 00102 /** \brief Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud 00103 * \param cloud the point cloud data message 00104 * \param min_pt the resultant minimum bounds 00105 * \param max_pt the resultant maximum bounds 00106 * \ingroup common 00107 */ 00108 template <typename PointT> inline void 00109 getMinMax3D (const pcl::PointCloud<PointT> &cloud, PointT &min_pt, PointT &max_pt); 00110 00111 /** \brief Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud 00112 * \param cloud the point cloud data message 00113 * \param min_pt the resultant minimum bounds 00114 * \param max_pt the resultant maximum bounds 00115 * \ingroup common 00116 */ 00117 template <typename PointT> inline void 00118 getMinMax3D (const pcl::PointCloud<PointT> &cloud, 00119 Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt); 00120 00121 /** \brief Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud 00122 * \param cloud the point cloud data message 00123 * \param indices the vector of point indices to use from \a cloud 00124 * \param min_pt the resultant minimum bounds 00125 * \param max_pt the resultant maximum bounds 00126 * \ingroup common 00127 */ 00128 template <typename PointT> inline void 00129 getMinMax3D (const pcl::PointCloud<PointT> &cloud, const std::vector<int> &indices, 00130 Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt); 00131 00132 /** \brief Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud 00133 * \param cloud the point cloud data message 00134 * \param indices the vector of point indices to use from \a cloud 00135 * \param min_pt the resultant minimum bounds 00136 * \param max_pt the resultant maximum bounds 00137 * \ingroup common 00138 */ 00139 template <typename PointT> inline void 00140 getMinMax3D (const pcl::PointCloud<PointT> &cloud, const pcl::PointIndices &indices, 00141 Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt); 00142 00143 /** \brief Compute the radius of a circumscribed circle for a triangle formed of three points pa, pb, and pc 00144 * \param pa the first point 00145 * \param pb the second point 00146 * \param pc the third point 00147 * \return the radius of the circumscribed circle 00148 * \ingroup common 00149 */ 00150 template <typename PointT> inline double 00151 getCircumcircleRadius (const PointT &pa, const PointT &pb, const PointT &pc); 00152 00153 /** \brief Get the minimum and maximum values on a point histogram 00154 * \param histogram the point representing a multi-dimensional histogram 00155 * \param len the length of the histogram 00156 * \param min_p the resultant minimum 00157 * \param max_p the resultant maximum 00158 * \ingroup common 00159 */ 00160 template <typename PointT> inline void 00161 getMinMax (const PointT &histogram, int len, float &min_p, float &max_p); 00162 00163 /** \brief Calculate the area of a polygon given a point cloud that defines the polygon 00164 * \param polygon point cloud that contains those vertices that comprises the polygon. Vertices are stored in counterclockwise. 00165 * \return the polygon area 00166 * \ingroup common 00167 */ 00168 template<typename PointT> inline float 00169 calculatePolygonArea (const pcl::PointCloud<PointT> &polygon); 00170 00171 /** \brief Get the minimum and maximum values on a point histogram 00172 * \param cloud the cloud containing multi-dimensional histograms 00173 * \param idx point index representing the histogram that we need to compute min/max for 00174 * \param field_name the field name containing the multi-dimensional histogram 00175 * \param min_p the resultant minimum 00176 * \param max_p the resultant maximum 00177 * \ingroup common 00178 */ 00179 PCL_EXPORTS void 00180 getMinMax (const pcl::PCLPointCloud2 &cloud, int idx, const std::string &field_name, 00181 float &min_p, float &max_p); 00182 00183 /** \brief Compute both the mean and the standard deviation of an array of values 00184 * \param values the array of values 00185 * \param mean the resultant mean of the distribution 00186 * \param stddev the resultant standard deviation of the distribution 00187 * \ingroup common 00188 */ 00189 PCL_EXPORTS void 00190 getMeanStdDev (const std::vector<float> &values, double &mean, double &stddev); 00191 00192 } 00193 /*@}*/ 00194 #include <pcl/common/impl/common.hpp> 00195 00196 #endif //#ifndef PCL_COMMON_H_