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