pcl: distances.h Source File

00001 /*
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00034  * $Id: distances.h 35984 2011-02-13 03:14:39Z rusu $
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00037 #ifndef PCL_DISTANCES_H_
00038 #define PCL_DISTANCES_H_
00039 
00040 #include <pcl/common/common.h>
00041 
00042 namespace pcl
00043 {
00050   void
00051   lineToLineSegment (const Eigen::VectorXf &line_a, const Eigen::VectorXf &line_b, 
00052                      Eigen::Vector4f &pt1_seg, Eigen::Vector4f &pt2_seg);
00053 
00059   double inline
00060   sqrPointToLineDistance (const Eigen::Vector4f &pt, const Eigen::Vector4f &line_pt, const Eigen::Vector4f &line_dir)
00061   {
00062     // Calculate the distance from the point to the line
00063     // D = ||(P2-P1) x (P1-P0)|| / ||P2-P1|| = norm (cross (p2-p1, p1-p0)) / norm(p2-p1)
00064     return (line_dir.cross3 (line_pt - pt)).squaredNorm () / line_dir.squaredNorm ();
00065   }
00066 
00074   double inline
00075   sqrPointToLineDistance (const Eigen::Vector4f &pt, const Eigen::Vector4f &line_pt, const Eigen::Vector4f &line_dir, const double sqr_length)
00076   {
00077     // Calculate the distance from the point to the line
00078     // D = ||(P2-P1) x (P1-P0)|| / ||P2-P1|| = norm (cross (p2-p1, p1-p0)) / norm(p2-p1)
00079     return (line_dir.cross3 (line_pt - pt)).squaredNorm () / sqr_length;
00080   }
00081 }
00082 
00083 #endif  //#ifndef PCL_DISTANCES_H_
00084