pcl: common.h Source File

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00001 /*
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00034  * $Id: common.h 5026 2012-03-12 02:51:44Z rusu $
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00037 
00038 #ifndef PCL_COMMON_H_
00039 #define PCL_COMMON_H_
00040 
00041 #include <pcl/pcl_base.h>
00042 #include <cfloat>
00043 
00051 namespace pcl
00052 {
00059   inline double 
00060   getAngle3D (const Eigen::Vector4f &v1, const Eigen::Vector4f &v2);
00061 
00068   inline void 
00069   getMeanStd (const std::vector<float> &values, double &mean, double &stddev);
00070 
00078   template <typename PointT> inline void 
00079   getPointsInBox (const pcl::PointCloud<PointT> &cloud, Eigen::Vector4f &min_pt,
00080                   Eigen::Vector4f &max_pt, std::vector<int> &indices);
00081 
00088   template<typename PointT> inline void
00089   getMaxDistance (const pcl::PointCloud<PointT> &cloud, const Eigen::Vector4f &pivot_pt, Eigen::Vector4f &max_pt);
00090 
00098   template<typename PointT> inline void
00099   getMaxDistance (const pcl::PointCloud<PointT> &cloud, const std::vector<int> &indices, 
00100                   const Eigen::Vector4f &pivot_pt, Eigen::Vector4f &max_pt);
00101 
00108   template <typename PointT> inline void 
00109   getMinMax3D (const pcl::PointCloud<PointT> &cloud, PointT &min_pt, PointT &max_pt);
00110   
00117   template <typename PointT> inline void 
00118   getMinMax3D (const pcl::PointCloud<PointT> &cloud, 
00119                Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt);
00120 
00128   template <typename PointT> inline void 
00129   getMinMax3D (const pcl::PointCloud<PointT> &cloud, const std::vector<int> &indices, 
00130                Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt);
00131 
00139   template <typename PointT> inline void 
00140   getMinMax3D (const pcl::PointCloud<PointT> &cloud, const pcl::PointIndices &indices, 
00141                Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt);
00142 
00150   template <typename PointT> inline double 
00151   getCircumcircleRadius (const PointT &pa, const PointT &pb, const PointT &pc);
00152 
00160   template <typename PointT> inline void 
00161   getMinMax (const PointT &histogram, int len, float &min_p, float &max_p);
00162 
00171   PCL_EXPORTS void 
00172   getMinMax (const sensor_msgs::PointCloud2 &cloud, int idx, const std::string &field_name, 
00173              float &min_p, float &max_p);
00174 
00181   PCL_EXPORTS void
00182   getMeanStdDev (const std::vector<float> &values, double &mean, double &stddev);
00183 
00184 }
00186 #include <pcl/common/impl/common.hpp>
00187 
00188 #endif  //#ifndef PCL_COMMON_H_