209 lines
7.9 KiB
C++
209 lines
7.9 KiB
C++
/*
|
|
* 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.
|
|
*
|
|
* $Id$
|
|
*
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <limits>
|
|
|
|
#include <pcl/types.h>
|
|
#include <pcl/point_types.h> // for PointXY
|
|
#include <Eigen/Core> // for VectorXf
|
|
|
|
/**
|
|
* \file pcl/common/distances.h
|
|
* Define standard C methods to do distance calculations
|
|
* \ingroup common
|
|
*/
|
|
|
|
/*@{*/
|
|
namespace pcl
|
|
{
|
|
template <typename PointT> class PointCloud;
|
|
|
|
/** \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 ();
|
|
const auto token = std::numeric_limits<std::size_t>::max();
|
|
std::size_t i_min = token, i_max = token;
|
|
|
|
for (std::size_t i = 0; i < cloud.size (); ++i)
|
|
{
|
|
for (std::size_t j = i; j < cloud.size (); ++j)
|
|
{
|
|
// Compute the distance
|
|
double dist = (cloud[i].getVector4fMap () -
|
|
cloud[j].getVector4fMap ()).squaredNorm ();
|
|
if (dist <= max_dist)
|
|
continue;
|
|
|
|
max_dist = dist;
|
|
i_min = i;
|
|
i_max = j;
|
|
}
|
|
}
|
|
|
|
if (i_min == token || i_max == token)
|
|
return (max_dist = std::numeric_limits<double>::min ());
|
|
|
|
pmin = cloud[i_min];
|
|
pmax = cloud[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 Indices &indices,
|
|
PointT &pmin, PointT &pmax)
|
|
{
|
|
double max_dist = std::numeric_limits<double>::min ();
|
|
const auto token = std::numeric_limits<std::size_t>::max();
|
|
std::size_t i_min = token, i_max = token;
|
|
|
|
for (std::size_t i = 0; i < indices.size (); ++i)
|
|
{
|
|
for (std::size_t j = i; j < indices.size (); ++j)
|
|
{
|
|
// Compute the distance
|
|
double dist = (cloud[indices[i]].getVector4fMap () -
|
|
cloud[indices[j]].getVector4fMap ()).squaredNorm ();
|
|
if (dist <= max_dist)
|
|
continue;
|
|
|
|
max_dist = dist;
|
|
i_min = i;
|
|
i_max = j;
|
|
}
|
|
}
|
|
|
|
if (i_min == token || i_max == token)
|
|
return (max_dist = std::numeric_limits<double>::min ());
|
|
|
|
pmin = cloud[indices[i_min]];
|
|
pmax = cloud[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)));
|
|
}
|
|
}
|