38 #ifndef PCL_COMMON_IMPL_H_ 39 #define PCL_COMMON_IMPL_H_ 46 pcl::getAngle3D (
const Eigen::Vector4f &v1,
const Eigen::Vector4f &v2,
const bool in_degree)
49 double rad = v1.normalized ().dot (v2.normalized ());
54 return (in_degree ? acos (rad) * 180.0 / M_PI : acos (rad));
58 pcl::getAngle3D (
const Eigen::Vector3f &v1,
const Eigen::Vector3f &v2,
const bool in_degree)
61 double rad = v1.normalized ().dot (v2.normalized ());
66 return (in_degree ? acos (rad) * 180.0 / M_PI : acos (rad));
73 double sum = 0, sq_sum = 0;
75 for (
size_t i = 0; i < values.size (); ++i)
78 sq_sum += values[i] * values[i];
80 mean = sum / static_cast<double>(values.size ());
81 double variance = (sq_sum - sum * sum / static_cast<double>(values.size ())) / (static_cast<double>(values.size ()) - 1);
82 stddev = sqrt (variance);
86 template <
typename Po
intT>
inline void 88 Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt,
89 std::vector<int> &indices)
91 indices.resize (cloud.
points.size ());
97 for (
size_t i = 0; i < cloud.
points.size (); ++i)
100 if (cloud.
points[i].x < min_pt[0] || cloud.
points[i].y < min_pt[1] || cloud.
points[i].z < min_pt[2])
102 if (cloud.
points[i].x > max_pt[0] || cloud.
points[i].y > max_pt[1] || cloud.
points[i].z > max_pt[2])
104 indices[l++] = int (i);
110 for (
size_t i = 0; i < cloud.
points.size (); ++i)
113 if (!pcl_isfinite (cloud.
points[i].x) ||
114 !pcl_isfinite (cloud.
points[i].y) ||
115 !pcl_isfinite (cloud.
points[i].z))
118 if (cloud.
points[i].x < min_pt[0] || cloud.
points[i].y < min_pt[1] || cloud.
points[i].z < min_pt[2])
120 if (cloud.
points[i].x > max_pt[0] || cloud.
points[i].y > max_pt[1] || cloud.
points[i].z > max_pt[2])
122 indices[l++] = int (i);
129 template<
typename Po
intT>
inline void 132 float max_dist = -FLT_MAX;
135 const Eigen::Vector3f pivot_pt3 = pivot_pt.head<3> ();
140 for (
size_t i = 0; i < cloud.
points.size (); ++i)
143 dist = (pivot_pt3 - pt).norm ();
154 for (
size_t i = 0; i < cloud.
points.size (); ++i)
157 if (!pcl_isfinite (cloud.
points[i].x) || !pcl_isfinite (cloud.
points[i].y) || !pcl_isfinite (cloud.
points[i].z))
160 dist = (pivot_pt3 - pt).norm ();
170 max_pt = cloud.
points[max_idx].getVector4fMap ();
172 max_pt = Eigen::Vector4f(std::numeric_limits<float>::quiet_NaN(),std::numeric_limits<float>::quiet_NaN(),std::numeric_limits<float>::quiet_NaN(),std::numeric_limits<float>::quiet_NaN());
176 template<
typename Po
intT>
inline void 178 const Eigen::Vector4f &pivot_pt, Eigen::Vector4f &max_pt)
180 float max_dist = -FLT_MAX;
183 const Eigen::Vector3f pivot_pt3 = pivot_pt.head<3> ();
188 for (
size_t i = 0; i < indices.size (); ++i)
191 dist = (pivot_pt3 - pt).norm ();
194 max_idx = static_cast<int> (i);
202 for (
size_t i = 0; i < indices.size (); ++i)
205 if (!pcl_isfinite (cloud.
points[indices[i]].x) || !pcl_isfinite (cloud.
points[indices[i]].y)
207 !pcl_isfinite (cloud.
points[indices[i]].z))
211 dist = (pivot_pt3 - pt).norm ();
214 max_idx = static_cast<int> (i);
221 max_pt = cloud.
points[indices[max_idx]].getVector4fMap ();
223 max_pt = Eigen::Vector4f(std::numeric_limits<float>::quiet_NaN(),std::numeric_limits<float>::quiet_NaN(),std::numeric_limits<float>::quiet_NaN(),std::numeric_limits<float>::quiet_NaN());
227 template <
typename Po
intT>
inline void 230 Eigen::Array4f min_p, max_p;
231 min_p.setConstant (FLT_MAX);
232 max_p.setConstant (-FLT_MAX);
237 for (
size_t i = 0; i < cloud.
points.size (); ++i)
240 min_p = min_p.min (pt);
241 max_p = max_p.max (pt);
247 for (
size_t i = 0; i < cloud.
points.size (); ++i)
250 if (!pcl_isfinite (cloud.
points[i].x) ||
251 !pcl_isfinite (cloud.
points[i].y) ||
252 !pcl_isfinite (cloud.
points[i].z))
255 min_p = min_p.min (pt);
256 max_p = max_p.max (pt);
259 min_pt.x = min_p[0]; min_pt.y = min_p[1]; min_pt.z = min_p[2];
260 max_pt.x = max_p[0]; max_pt.y = max_p[1]; max_pt.z = max_p[2];
264 template <
typename Po
intT>
inline void 267 Eigen::Array4f min_p, max_p;
268 min_p.setConstant (FLT_MAX);
269 max_p.setConstant (-FLT_MAX);
274 for (
size_t i = 0; i < cloud.
points.size (); ++i)
277 min_p = min_p.min (pt);
278 max_p = max_p.max (pt);
284 for (
size_t i = 0; i < cloud.
points.size (); ++i)
287 if (!pcl_isfinite (cloud.
points[i].x) ||
288 !pcl_isfinite (cloud.
points[i].y) ||
289 !pcl_isfinite (cloud.
points[i].z))
292 min_p = min_p.min (pt);
293 max_p = max_p.max (pt);
302 template <
typename Po
intT>
inline void 304 Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt)
306 Eigen::Array4f min_p, max_p;
307 min_p.setConstant (FLT_MAX);
308 max_p.setConstant (-FLT_MAX);
313 for (
size_t i = 0; i < indices.
indices.size (); ++i)
316 min_p = min_p.min (pt);
317 max_p = max_p.max (pt);
323 for (
size_t i = 0; i < indices.
indices.size (); ++i)
331 min_p = min_p.min (pt);
332 max_p = max_p.max (pt);
340 template <
typename Po
intT>
inline void 342 Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt)
344 min_pt.setConstant (FLT_MAX);
345 max_pt.setConstant (-FLT_MAX);
350 for (
size_t i = 0; i < indices.size (); ++i)
353 min_pt = min_pt.array ().min (pt);
354 max_pt = max_pt.array ().max (pt);
360 for (
size_t i = 0; i < indices.size (); ++i)
363 if (!pcl_isfinite (cloud.
points[indices[i]].x) ||
364 !pcl_isfinite (cloud.
points[indices[i]].y) ||
365 !pcl_isfinite (cloud.
points[indices[i]].z))
368 min_pt = min_pt.array ().min (pt);
369 max_pt = max_pt.array ().max (pt);
375 template <
typename Po
intT>
inline double 378 Eigen::Vector4f p1 (pa.x, pa.y, pa.z, 0);
379 Eigen::Vector4f p2 (pb.x, pb.y, pb.z, 0);
380 Eigen::Vector4f p3 (pc.x, pc.y, pc.z, 0);
382 double p2p1 = (p2 - p1).norm (), p3p2 = (p3 - p2).norm (), p1p3 = (p1 - p3).norm ();
385 double semiperimeter = (p2p1 + p3p2 + p1p3) / 2.0;
386 double area = sqrt (semiperimeter * (semiperimeter - p2p1) * (semiperimeter - p3p2) * (semiperimeter - p1p3));
388 return ((p2p1 * p3p2 * p1p3) / (4.0 * area));
392 template <
typename Po
intT>
inline void 398 for (
int i = 0; i < len; ++i)
400 min_p = (histogram[i] > min_p) ? min_p : histogram[i];
401 max_p = (histogram[i] < max_p) ? max_p : histogram[i];
406 template <
typename Po
intT>
inline float 410 int num_points = polygon.
size ();
412 Eigen::Vector3f va,vb,res;
414 res(0) = res(1) = res(2) = 0.0f;
415 for (
int i = 0; i < num_points; ++i)
417 j = (i + 1) % num_points;
418 va = polygon[i].getVector3fMap ();
419 vb = polygon[j].getVector3fMap ();
420 res += va.cross (vb);
426 #endif //#ifndef PCL_COMMON_IMPL_H_ void getPointsInBox(const pcl::PointCloud< PointT > &cloud, Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt, std::vector< int > &indices)
Get a set of points residing in a box given its bounds.
const Eigen::Map< const Eigen::Array4f, Eigen::Aligned > Array4fMapConst
double getAngle3D(const Eigen::Vector4f &v1, const Eigen::Vector4f &v2, const bool in_degree=false)
Compute the smallest angle between two 3D vectors in radians (default) or degree.
std::vector< PointT, Eigen::aligned_allocator< PointT > > points
The point data.
void getMinMax(const PointT &histogram, int len, float &min_p, float &max_p)
Get the minimum and maximum values on a point histogram.
std::vector< int > indices
void getMaxDistance(const pcl::PointCloud< PointT > &cloud, const Eigen::Vector4f &pivot_pt, Eigen::Vector4f &max_pt)
Get the point at maximum distance from a given point and a given pointcloud.
float calculatePolygonArea(const pcl::PointCloud< PointT > &polygon)
Calculate the area of a polygon given a point cloud that defines the polygon.
Define standard C methods and C++ classes that are common to all methods.
Defines all the PCL implemented PointT point type structures.
void getMeanStd(const std::vector< float > &values, double &mean, double &stddev)
Compute both the mean and the standard deviation of an array of values.
const Eigen::Map< const Eigen::Vector3f > Vector3fMapConst
void getMinMax3D(const pcl::PointCloud< PointT > &cloud, PointT &min_pt, PointT &max_pt)
Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud.
PointCloud represents the base class in PCL for storing collections of 3D points.
double getCircumcircleRadius(const PointT &pa, const PointT &pb, const PointT &pc)
Compute the radius of a circumscribed circle for a triangle formed of three points pa,...
bool is_dense
True if no points are invalid (e.g., have NaN or Inf values).
A point structure representing Euclidean xyz coordinates, and the RGB color.