Point Cloud Library (PCL)
1.3.1
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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 Willow Garage, Inc. 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: common.h 1370 2011-06-19 01:06:01Z jspricke $ 00035 * 00036 */ 00037 00038 #ifndef PCL_COMMON_H_ 00039 #define PCL_COMMON_H_ 00040 00041 #include <pcl/pcl_base.h> 00042 #include <cfloat> 00043 00051 namespace pcl 00052 { 00059 inline double 00060 getAngle3D (const Eigen::Vector4f &v1, const Eigen::Vector4f &v2); 00061 00068 inline void 00069 getMeanStd (const std::vector<float> &values, double &mean, double &stddev); 00070 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 00088 template<typename PointT> inline void 00089 getMaxDistance (const pcl::PointCloud<PointT> &cloud, const Eigen::Vector4f &pivot_pt, Eigen::Vector4f &max_pt); 00090 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 00108 template <typename PointT> inline void 00109 getMinMax3D (const pcl::PointCloud<PointT> &cloud, PointT &min_pt, PointT &max_pt); 00110 00117 template <typename PointT> inline void 00118 getMinMax3D (const pcl::PointCloud<PointT> &cloud, 00119 Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt); 00120 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 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 00150 template <typename PointT> inline double 00151 getCircumcircleRadius (const PointT &pa, const PointT &pb, const PointT &pc); 00152 00160 template <typename PointT> inline void 00161 getMinMax (const PointT &histogram, int len, float &min_p, float &max_p); 00162 00171 PCL_EXPORTS void 00172 getMinMax (const sensor_msgs::PointCloud2 &cloud, int idx, const std::string &field_name, 00173 float &min_p, float &max_p); 00174 00181 PCL_EXPORTS void 00182 getMeanStdDev (const std::vector<float> &values, double &mean, double &stddev); 00183 00184 } 00186 #include "pcl/common/impl/common.hpp" 00187 00188 #endif //#ifndef PCL_COMMON_H_