geo_util.cpp
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35 #define BOOST_PARAMETER_MAX_ARITY 7
38 #include <algorithm>
39 #include <iterator>
40 #include <cfloat>
41 #include <pcl/conversions.h>
42 #include <boost/tuple/tuple_comparison.hpp>
43 
44 #include <boost/foreach.hpp>
45 #include <boost/range/irange.hpp>
46 #include <boost/math/special_functions/round.hpp>
48 #include <pcl/point_types.h>
49 #include <pcl/surface/processing.h>
51 
52 // #define DEBUG_GEO_UTIL
53 namespace jsk_recognition_utils
54 {
55  Eigen::Quaternionf rotFrom3Axis(const Eigen::Vector3f& ex,
56  const Eigen::Vector3f& ey,
57  const Eigen::Vector3f& ez)
58  {
59  Eigen::Matrix3f rot;
60  rot.col(0) = ex.normalized();
61  rot.col(1) = ey.normalized();
62  rot.col(2) = ez.normalized();
63  return Eigen::Quaternionf(rot);
64  }
65 
66 }
Eigen::Quaternionf rotFrom3Axis(const Eigen::Vector3f &ex, const Eigen::Vector3f &ey, const Eigen::Vector3f &ez)
Definition: geo_util.cpp:55


jsk_recognition_utils
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autogenerated on Fri Dec 6 2019 04:02:51