00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, www.pointclouds.org 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: geometry.h 5294 2012-03-25 18:10:50Z rusu $ 00035 */ 00036 00037 #ifndef PCL_GEOMETRY_H_ 00038 #define PCL_GEOMETRY_H_ 00039 00040 #include <pcl/common/eigen.h> 00041 00049 namespace pcl 00050 { 00051 namespace geometry 00052 { 00054 template<typename PointT> 00055 inline float distance( const PointT& p1, const PointT& p2) 00056 { 00057 Eigen::Vector3f diff = p1 -p2; 00058 return diff.norm (); 00059 } 00061 template<typename PointT> 00062 inline float squaredDistance( const PointT& p1, const PointT& p2) 00063 { 00064 Eigen::Vector3f diff = p1 -p2; 00065 return diff.squaredNorm (); 00066 } 00073 template<typename PointT, typename NormalT> 00074 inline void project(const PointT& point, const PointT &plane_origin, const NormalT& plane_normal, PointT& projected) 00075 { 00076 Eigen::Vector3f po = point - plane_origin; 00077 const Eigen::Vector3f normal = plane_normal.getVector3fMapConst (); 00078 float lambda = normal.dot(po); 00079 projected.getVector3fMap () = point.getVector3fMapConst () - (lambda * normal); 00080 } 00087 inline void project(const Eigen::Vector3f& point, const Eigen::Vector3f &plane_origin, const Eigen::Vector3f& plane_normal, Eigen::Vector3f& projected) 00088 { 00089 Eigen::Vector3f po = point - plane_origin; 00090 float lambda = plane_normal.dot(po); 00091 projected = point - (lambda * plane_normal); 00092 } 00093 } 00094 } 00095 00097 #endif //#ifndef PCL_GEOMETRY_H_