comp_geometry.h

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#ifndef cpl_comp_geometry_h_DEFINED
#define cpl_comp_geometry_h_DEFINED

#include <ros/ros.h>
#include <pcl16/point_cloud.h>
#include <pcl16/point_types.h>
#include <geometry_msgs/PointStamped.h>

namespace cpl_visual_features
{

bool lineSegmentIntersection2D(pcl16::PointXYZ a1, pcl16::PointXYZ a2, pcl16::PointXYZ b1, pcl16::PointXYZ b2,
                               pcl16::PointXYZ& intersection);

bool lineLineIntersection2D(pcl16::PointXYZ a1, pcl16::PointXYZ a2, pcl16::PointXYZ b1, pcl16::PointXYZ b2,
                            pcl16::PointXYZ& intersection);

bool pointIsBetweenOthers(pcl16::PointXYZ& pt, pcl16::PointXYZ& x1, pcl16::PointXYZ& x2);

double pointLineDistance2D(pcl16::PointXYZ& pt, pcl16::PointXYZ& a, pcl16::PointXYZ& b);

static inline double dist(pcl16::PointXYZ a, pcl16::PointXYZ b)
{
  const double dx = a.x-b.x;
  const double dy = a.y-b.y;
  const double dz = a.z-b.z;
  return std::sqrt(dx*dx+dy*dy+dz*dz);
}

static inline double dist(pcl16::PointXYZ a, geometry_msgs::Point b)
{
  const double dx = a.x-b.x;
  const double dy = a.y-b.y;
  const double dz = a.z-b.z;
  return std::sqrt(dx*dx+dy*dy+dz*dz);
}

static inline double dist(geometry_msgs::Point b, pcl16::PointXYZ a)
{
  return dist(a,b);
}

static inline double sqrDist(Eigen::Vector3f& a, pcl16::PointXYZ& b)
{
  const double dx = a[0]-b.x;
  const double dy = a[1]-b.y;
  const double dz = a[2]-b.z;
  return dx*dx+dy*dy+dz*dz;
}


static inline double sqrDist(Eigen::Vector4f& a, Eigen::Vector4f& b)
{
  const double dx = a[0]-b[0];
  const double dy = a[1]-b[1];
  const double dz = a[2]-b[2];
  return dx*dx+dy*dy+dz*dz;
}

static inline double sqrDist(pcl16::PointXYZ a, pcl16::PointXYZ b)
{
  const double dx = a.x-b.x;
  const double dy = a.y-b.y;
  const double dz = a.z-b.z;
  return dx*dx+dy*dy+dz*dz;
}

static inline double sqrDistXY(pcl16::PointXYZ a, pcl16::PointXYZ b)
{
  const double dx = a.x-b.x;
  const double dy = a.y-b.y;
  return dx*dx+dy*dy;
}

};
#endif // cpl_comp_geometry_h_DEFINED