projections.h

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/*
 * Copyright (c) 2008 Radu Bogdan Rusu <rusu -=- cs.tum.edu>
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * $Id$
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 */

#ifndef _CLOUD_GEOMETRY_PROJECTIONS_H_
#define _CLOUD_GEOMETRY_PROJECTIONS_H_

// ROS includes
#include <geometry_msgs/Point32.h>
#include <geometry_msgs/Polygon.h>

namespace cloud_geometry
{

  namespace projections
  {


    inline void
      pointToPlane (const geometry_msgs::Point32 &p, geometry_msgs::Point32 &q, const std::vector<double> &plane_coefficients)
    {
      double distance = plane_coefficients.at (0) * p.x +
                        plane_coefficients.at (1) * p.y +
                        plane_coefficients.at (2) * p.z +
                        plane_coefficients.at (3);
      // Calculate the projection of the point on the plane
      q.x = p.x - distance * plane_coefficients.at (0);
      q.y = p.y - distance * plane_coefficients.at (1);
      q.z = p.z - distance * plane_coefficients.at (2);
    }


    inline void
      pointsToPlane (const geometry_msgs::Polygon &p, geometry_msgs::Polygon &q, const std::vector<double> &plane_coefficients)
    {
      q.points.resize (p.points.size ());
      for (unsigned int i = 0; i < p.points.size (); i++)
        pointToPlane (p.points[i], q.points[i], plane_coefficients);
    }


    inline void
      pointsToPlane (sensor_msgs::PointCloud &p, const std::vector<int> &indices, const std::vector<double> &plane_coefficients)
    {
      for (unsigned int i = 0; i < indices.size (); i++)
        pointToPlane (p.points[indices.at (i)], p.points[indices.at (i)], plane_coefficients);
    }


    inline void
      pointsToPlane (const sensor_msgs::PointCloud &p, const std::vector<int> &indices, sensor_msgs::PointCloud &q, const std::vector<double> &plane_coefficients)
    {
      q.points.resize (indices.size ());
      for (unsigned int i = 0; i < indices.size (); i++)
        pointToPlane (p.points[indices.at (i)], q.points[i], plane_coefficients);
    }


    inline void
      pointToPlane (const geometry_msgs::Point32 &p, geometry_msgs::Point32 &q, const std::vector<double> &plane_coefficients,
                    double &distance)
    {
      distance = plane_coefficients.at (0) * p.x +
                 plane_coefficients.at (1) * p.y +
                 plane_coefficients.at (2) * p.z +
                 plane_coefficients.at (3);
      // Calculate the projection of the point on the plane
      q.x = p.x - distance * plane_coefficients.at (0);
      q.y = p.y - distance * plane_coefficients.at (1);
      q.z = p.z - distance * plane_coefficients.at (2);
    }

  }
}

#endif