Program Listing for File distances.h¶
↰ Return to documentation for file (pcl\common\include\pcl\common\distances.h)
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id$
*
*/
#ifndef PCL_DISTANCES_H_
#define PCL_DISTANCES_H_
#include <pcl/common/common.h>
/**
* \file pcl/common/distances.h
* Define standard C methods to do distance calculations
* \ingroup common
*/
/*@{*/
namespace pcl
{
/** \brief Get the shortest 3D segment between two 3D lines
* \param line_a the coefficients of the first line (point, direction)
* \param line_b the coefficients of the second line (point, direction)
* \param pt1_seg the first point on the line segment
* \param pt2_seg the second point on the line segment
* \ingroup common
*/
PCL_EXPORTS void
lineToLineSegment (const Eigen::VectorXf &line_a, const Eigen::VectorXf &line_b,
Eigen::Vector4f &pt1_seg, Eigen::Vector4f &pt2_seg);
/** \brief Get the square distance from a point to a line (represented by a point and a direction)
* \param pt a point
* \param line_pt a point on the line (make sure that line_pt[3] = 0 as there are no internal checks!)
* \param line_dir the line direction
* \ingroup common
*/
double inline
sqrPointToLineDistance (const Eigen::Vector4f &pt, const Eigen::Vector4f &line_pt, const Eigen::Vector4f &line_dir)
{
// Calculate the distance from the point to the line
// D = ||(P2-P1) x (P1-P0)|| / ||P2-P1|| = norm (cross (p2-p1, p1-p0)) / norm(p2-p1)
return (line_dir.cross3 (line_pt - pt)).squaredNorm () / line_dir.squaredNorm ();
}
/** \brief Get the square distance from a point to a line (represented by a point and a direction)
* \note This one is useful if one has to compute many distances to a fixed line, so the vector length can be pre-computed
* \param pt a point
* \param line_pt a point on the line (make sure that line_pt[3] = 0 as there are no internal checks!)
* \param line_dir the line direction
* \param sqr_length the squared norm of the line direction
* \ingroup common
*/
double inline
sqrPointToLineDistance (const Eigen::Vector4f &pt, const Eigen::Vector4f &line_pt, const Eigen::Vector4f &line_dir, const double sqr_length)
{
// Calculate the distance from the point to the line
// D = ||(P2-P1) x (P1-P0)|| / ||P2-P1|| = norm (cross (p2-p1, p1-p0)) / norm(p2-p1)
return (line_dir.cross3 (line_pt - pt)).squaredNorm () / sqr_length;
}
/** \brief Obtain the maximum segment in a given set of points, and return the minimum and maximum points.
* \param[in] cloud the point cloud dataset
* \param[out] pmin the coordinates of the "minimum" point in \a cloud (one end of the segment)
* \param[out] pmax the coordinates of the "maximum" point in \a cloud (the other end of the segment)
* \return the length of segment length
* \ingroup common
*/
template <typename PointT> double inline
getMaxSegment (const pcl::PointCloud<PointT> &cloud,
PointT &pmin, PointT &pmax)
{
double max_dist = std::numeric_limits<double>::min ();
int i_min = -1, i_max = -1;
for (size_t i = 0; i < cloud.points.size (); ++i)
{
for (size_t j = i; j < cloud.points.size (); ++j)
{
// Compute the distance
double dist = (cloud.points[i].getVector4fMap () -
cloud.points[j].getVector4fMap ()).squaredNorm ();
if (dist <= max_dist)
continue;
max_dist = dist;
i_min = i;
i_max = j;
}
}
if (i_min == -1 || i_max == -1)
return (max_dist = std::numeric_limits<double>::min ());
pmin = cloud.points[i_min];
pmax = cloud.points[i_max];
return (std::sqrt (max_dist));
}
/** \brief Obtain the maximum segment in a given set of points, and return the minimum and maximum points.
* \param[in] cloud the point cloud dataset
* \param[in] indices a set of point indices to use from \a cloud
* \param[out] pmin the coordinates of the "minimum" point in \a cloud (one end of the segment)
* \param[out] pmax the coordinates of the "maximum" point in \a cloud (the other end of the segment)
* \return the length of segment length
* \ingroup common
*/
template <typename PointT> double inline
getMaxSegment (const pcl::PointCloud<PointT> &cloud, const std::vector<int> &indices,
PointT &pmin, PointT &pmax)
{
double max_dist = std::numeric_limits<double>::min ();
int i_min = -1, i_max = -1;
for (size_t i = 0; i < indices.size (); ++i)
{
for (size_t j = i; j < indices.size (); ++j)
{
// Compute the distance
double dist = (cloud.points[indices[i]].getVector4fMap () -
cloud.points[indices[j]].getVector4fMap ()).squaredNorm ();
if (dist <= max_dist)
continue;
max_dist = dist;
i_min = i;
i_max = j;
}
}
if (i_min == -1 || i_max == -1)
return (max_dist = std::numeric_limits<double>::min ());
pmin = cloud.points[indices[i_min]];
pmax = cloud.points[indices[i_max]];
return (std::sqrt (max_dist));
}
/** \brief Calculate the squared euclidean distance between the two given points.
* \param[in] p1 the first point
* \param[in] p2 the second point
*/
template<typename PointType1, typename PointType2> inline float
squaredEuclideanDistance (const PointType1& p1, const PointType2& p2)
{
float diff_x = p2.x - p1.x, diff_y = p2.y - p1.y, diff_z = p2.z - p1.z;
return (diff_x*diff_x + diff_y*diff_y + diff_z*diff_z);
}
/** \brief Calculate the squared euclidean distance between the two given points.
* \param[in] p1 the first point
* \param[in] p2 the second point
*/
template<> inline float
squaredEuclideanDistance (const PointXY& p1, const PointXY& p2)
{
float diff_x = p2.x - p1.x, diff_y = p2.y - p1.y;
return (diff_x*diff_x + diff_y*diff_y);
}
/** \brief Calculate the euclidean distance between the two given points.
* \param[in] p1 the first point
* \param[in] p2 the second point
*/
template<typename PointType1, typename PointType2> inline float
euclideanDistance (const PointType1& p1, const PointType2& p2)
{
return (std::sqrt (squaredEuclideanDistance (p1, p2)));
}
}
/*@*/
#endif //#ifndef PCL_DISTANCES_H_