Functions
pcl::recognition::aux Namespace Reference

Functions

template<typename T >
void add3 (T a[3], const T b[3])
 a += b
template<typename Scalar >
void array12ToMatrix4x4 (const Scalar src[12], Eigen::Matrix< Scalar, 4, 4 > &dst)
template<typename T >
void axisAngleToRotationMatrix (const T axis_angle[3], T rotation_matrix[9])
template<typename T >
clamp (T value, T min, T max)
template<typename T >
bool compareOrderedPairs (const std::pair< T, T > &a, const std::pair< T, T > &b)
template<typename T >
void copy3 (const T src[3], T dst[3])
 dst = src
template<typename T >
void copy3 (const T src[3], pcl::PointXYZ &dst)
 dst = src
template<typename T >
void cross3 (const T v1[3], const T v2[3], T out[3])
template<typename T >
void diff3 (const T a[3], const T b[3], T c[3])
 c = a - b
template<typename T >
distance3 (const T a[3], const T b[3])
 Returns the Euclidean distance between a and b.
template<typename T >
dot3 (const T a[3], const T b[3])
 Returns the dot product a*b.
template<typename T >
dot3 (T x, T y, T z, T u, T v, T w)
 Returns the dot product (x, y, z)*(u, v, w) = x*u + y*v + z*w.
template<typename T >
void eigenMatrix3x3ToArray9RowMajor (const Eigen::Matrix< T, 3, 3 > &src, T dst[9])
 The method copies the input array 'src' to the eigen matrix 'dst' in row major order. dst[0] = src(0,0); dst[1] = src(0,1); dst[2] = src(0,2); dst[3] = src(1,0); dst[4] = src(1,1); dst[5] = src(1,2); dst[6] = src(2,0); dst[7] = src(2,1); dst[8] = src(2,2);.
template<typename T >
void expandBoundingBox (T dst[6], const T src[6])
 Expands the destination bounding box 'dst' such that it contains 'src'.
template<typename T >
void expandBoundingBoxToContainPoint (T bbox[6], const T p[3])
 Expands the bounding box 'bbox' such that it contains the point 'p'.
template<typename T >
void flip3 (T a[3])
 a = -a
template<typename T >
void identity3x3 (T m[9])
 Sets 'm' to the 3x3 identity matrix.
template<typename T >
length3 (const T v[3])
 Returns the length of v.
template<typename Scalar >
void matrix4x4ToArray12 (const Eigen::Matrix< Scalar, 4, 4 > &src, Scalar dst[12])
template<typename T >
void mult3 (T *v, T scalar)
 v = scalar*v.
template<typename T >
void mult3 (const T *v, T scalar, T *out)
 out = scalar*v.
template<typename T >
void mult3x3 (const T m[9], const T v[3], T out[3])
 out = mat*v. 'm' is an 1D array of 9 elements treated as a 3x3 matrix (row major order).
template<typename T >
void mult3x3 (const T x[3], const T y[3], const T z[3], const T m[3][3], T out[9])
template<typename T >
void normalize3 (T v[3])
 Normalize v.
template<typename T >
bool pointsAreCoplanar (const T p1[3], const T n1[3], const T p2[3], const T n2[3], T max_angle)
 Returns true if the points 'p1' and 'p2' are co-planar and false otherwise. The method assumes that 'n1' is a normal at 'p1' and 'n2' is a normal at 'p2'. 'max_angle' is the threshold used for the test. The bigger the value the larger the deviation between the normals can be which still leads to a positive test result. The angle has to be in radians.
template<typename T >
void projectOnPlane3 (const T x[3], const T planeNormal[3], T out[3])
template<typename T >
void rotationMatrixToAxisAngle (const T rotation_matrix[9], T axis[3], T &angle)
template<typename T >
void set3 (T v[3], T value)
 v[0] = v[1] = v[2] = value
template<typename T >
sqr (T a)
template<typename T >
sqrDistance3 (const T a[3], const T b[3])
 Returns the squared Euclidean distance between a and b.
template<typename T >
sqrLength3 (const T v[3])
 Returns the square length of v.
template<typename T >
void sum3 (const T a[3], const T b[3], T c[3])
 c = a + b
template<typename T >
void toEigenMatrix3x3RowMajor (const T src[9], Eigen::Matrix< T, 3, 3 > &dst)
 The method copies the input array 'src' to the eigen matrix 'dst' in row major order. dst(0,0) = src[0]; dst(0,1) = src[1]; dst(0,2) = src[2]; dst(1,0) = src[3]; dst(1,1) = src[4]; dst(1,2) = src[5]; dst(2,0) = src[6]; dst(2,1) = src[7]; dst(2,2) = src[8];.
template<class T >
void transform (const T t[12], const T p[3], T out[3])
 The first 9 elements of 't' are treated as a 3x3 matrix (row major order) and the last 3 as a translation. First, 'p' is multiplied by that matrix and then translated. The result is saved in 'out'.
template<class T >
void transform (const T t[12], T x, T y, T z, T out[3])
 The first 9 elements of 't' are treated as a 3x3 matrix (row major order) and the last 3 as a translation. First, (x, y, z) is multiplied by that matrix and then translated. The result is saved in 'out'.
template<class T >
void transform (const Eigen::Matrix< T, 4, 4 > &mat, const pcl::PointXYZ &p, pcl::PointXYZ &out)
 Compute out = (upper left 3x3 of mat)*p + last column of mat.
template<class T >
void transform (const T t[12], const pcl::PointXYZ &p, T out[3])
 The first 9 elements of 't' are treated as a 3x3 matrix (row major order) and the last 3 as a translation. First, 'p' is multiplied by that matrix and then translated. The result is saved in 'out'.

Function Documentation

template<typename T >
void pcl::recognition::aux::add3 ( a[3],
const T  b[3] 
)

a += b

Definition at line 145 of file auxiliary.h.

template<typename Scalar >
void pcl::recognition::aux::array12ToMatrix4x4 ( const Scalar  src[12],
Eigen::Matrix< Scalar, 4, 4 > &  dst 
)

Definition at line 361 of file auxiliary.h.

template<typename T >
void pcl::recognition::aux::axisAngleToRotationMatrix ( const T  axis_angle[3],
rotation_matrix[9] 
)

brief Computes a rotation matrix from the provided input vector 'axis_angle'. The direction of 'axis_angle' is the rotation axis and its magnitude is the angle of rotation about that axis. 'rotation_matrix' is the output rotation matrix saved in row major order.

Definition at line 406 of file auxiliary.h.

template<typename T >
T pcl::recognition::aux::clamp ( value,
min,
max 
)

Definition at line 72 of file auxiliary.h.

template<typename T >
bool pcl::recognition::aux::compareOrderedPairs ( const std::pair< T, T > &  a,
const std::pair< T, T > &  b 
)

Definition at line 57 of file auxiliary.h.

template<typename T >
void pcl::recognition::aux::copy3 ( const T  src[3],
dst[3] 
)

dst = src

Definition at line 118 of file auxiliary.h.

template<typename T >
void pcl::recognition::aux::copy3 ( const T  src[3],
pcl::PointXYZ dst 
)

dst = src

Definition at line 127 of file auxiliary.h.

template<typename T >
void pcl::recognition::aux::cross3 ( const T  v1[3],
const T  v2[3],
out[3] 
)

Definition at line 171 of file auxiliary.h.

template<typename T >
void pcl::recognition::aux::diff3 ( const T  a[3],
const T  b[3],
c[3] 
)

c = a - b

Definition at line 163 of file auxiliary.h.

template<typename T >
T pcl::recognition::aux::distance3 ( const T  a[3],
const T  b[3] 
)

Returns the Euclidean distance between a and b.

Definition at line 187 of file auxiliary.h.

template<typename T >
T pcl::recognition::aux::dot3 ( const T  a[3],
const T  b[3] 
)

Returns the dot product a*b.

Definition at line 202 of file auxiliary.h.

template<typename T >
T pcl::recognition::aux::dot3 ( x,
y,
z,
u,
v,
w 
)

Returns the dot product (x, y, z)*(u, v, w) = x*u + y*v + z*w.

Definition at line 209 of file auxiliary.h.

template<typename T >
void pcl::recognition::aux::eigenMatrix3x3ToArray9RowMajor ( const Eigen::Matrix< T, 3, 3 > &  src,
dst[9] 
)

The method copies the input array 'src' to the eigen matrix 'dst' in row major order. dst[0] = src(0,0); dst[1] = src(0,1); dst[2] = src(0,2); dst[3] = src(1,0); dst[4] = src(1,1); dst[5] = src(1,2); dst[6] = src(2,0); dst[7] = src(2,1); dst[8] = src(2,2);.

Definition at line 383 of file auxiliary.h.

template<typename T >
void pcl::recognition::aux::expandBoundingBox ( dst[6],
const T  src[6] 
)

Expands the destination bounding box 'dst' such that it contains 'src'.

Definition at line 84 of file auxiliary.h.

template<typename T >
void pcl::recognition::aux::expandBoundingBoxToContainPoint ( bbox[6],
const T  p[3] 
)

Expands the bounding box 'bbox' such that it contains the point 'p'.

Definition at line 97 of file auxiliary.h.

template<typename T >
void pcl::recognition::aux::flip3 ( a[3])

a = -a

Definition at line 136 of file auxiliary.h.

template<typename T >
void pcl::recognition::aux::identity3x3 ( m[9])

Sets 'm' to the 3x3 identity matrix.

Definition at line 261 of file auxiliary.h.

template<typename T >
T pcl::recognition::aux::length3 ( const T  v[3])

Returns the length of v.

Definition at line 180 of file auxiliary.h.

template<typename Scalar >
void pcl::recognition::aux::matrix4x4ToArray12 ( const Eigen::Matrix< Scalar, 4, 4 > &  src,
Scalar  dst[12] 
)

Definition at line 370 of file auxiliary.h.

template<typename T >
void pcl::recognition::aux::mult3 ( T *  v,
scalar 
)

v = scalar*v.

Definition at line 216 of file auxiliary.h.

template<typename T >
void pcl::recognition::aux::mult3 ( const T *  v,
scalar,
T *  out 
)

out = scalar*v.

Definition at line 225 of file auxiliary.h.

template<typename T >
void pcl::recognition::aux::mult3x3 ( const T  m[9],
const T  v[3],
out[3] 
)

out = mat*v. 'm' is an 1D array of 9 elements treated as a 3x3 matrix (row major order).

Definition at line 269 of file auxiliary.h.

template<typename T >
void pcl::recognition::aux::mult3x3 ( const T  x[3],
const T  y[3],
const T  z[3],
const T  m[3][3],
out[9] 
)

Let x, y, z be the columns of the matrix a = [x|y|z]. The method computes out = a*m. Note that 'out' is a 1D array of 9 elements and the resulting matrix is stored in row major order, i.e., the first matrix row is (out[0] out[1] out[2]), the second (out[3] out[4] out[5]) and the third (out[6] out[7] out[8]).

Definition at line 281 of file auxiliary.h.

template<typename T >
void pcl::recognition::aux::normalize3 ( v[3])

Normalize v.

Definition at line 234 of file auxiliary.h.

template<typename T >
bool pcl::recognition::aux::pointsAreCoplanar ( const T  p1[3],
const T  n1[3],
const T  p2[3],
const T  n2[3],
max_angle 
)

Returns true if the points 'p1' and 'p2' are co-planar and false otherwise. The method assumes that 'n1' is a normal at 'p1' and 'n2' is a normal at 'p2'. 'max_angle' is the threshold used for the test. The bigger the value the larger the deviation between the normals can be which still leads to a positive test result. The angle has to be in radians.

Definition at line 340 of file auxiliary.h.

template<typename T >
void pcl::recognition::aux::projectOnPlane3 ( const T  x[3],
const T  planeNormal[3],
out[3] 
)

Projects 'x' on the plane through 0 and with normal 'planeNormal' and saves the result in 'out'.

Definition at line 251 of file auxiliary.h.

template<typename T >
void pcl::recognition::aux::rotationMatrixToAxisAngle ( const T  rotation_matrix[9],
axis[3],
T &  angle 
)

brief Extracts the angle-axis representation from 'rotation_matrix', i.e., computes a rotation 'axis' and an 'angle' of rotation about that axis from the provided input. The output 'angle' is in the range [0, pi] and 'axis' is normalized.

Definition at line 432 of file auxiliary.h.

template<typename T >
void pcl::recognition::aux::set3 ( v[3],
value 
)

v[0] = v[1] = v[2] = value

Definition at line 111 of file auxiliary.h.

template<typename T >
T pcl::recognition::aux::sqr ( a)

Definition at line 66 of file auxiliary.h.

template<typename T >
T pcl::recognition::aux::sqrDistance3 ( const T  a[3],
const T  b[3] 
)

Returns the squared Euclidean distance between a and b.

Definition at line 195 of file auxiliary.h.

template<typename T >
T pcl::recognition::aux::sqrLength3 ( const T  v[3])

Returns the square length of v.

Definition at line 244 of file auxiliary.h.

template<typename T >
void pcl::recognition::aux::sum3 ( const T  a[3],
const T  b[3],
c[3] 
)

c = a + b

Definition at line 154 of file auxiliary.h.

template<typename T >
void pcl::recognition::aux::toEigenMatrix3x3RowMajor ( const T  src[9],
Eigen::Matrix< T, 3, 3 > &  dst 
)

The method copies the input array 'src' to the eigen matrix 'dst' in row major order. dst(0,0) = src[0]; dst(0,1) = src[1]; dst(0,2) = src[2]; dst(1,0) = src[3]; dst(1,1) = src[4]; dst(1,2) = src[5]; dst(2,0) = src[6]; dst(2,1) = src[7]; dst(2,2) = src[8];.

Definition at line 396 of file auxiliary.h.

template<class T >
void pcl::recognition::aux::transform ( const T  t[12],
const T  p[3],
out[3] 
)

The first 9 elements of 't' are treated as a 3x3 matrix (row major order) and the last 3 as a translation. First, 'p' is multiplied by that matrix and then translated. The result is saved in 'out'.

Definition at line 299 of file auxiliary.h.

template<class T >
void pcl::recognition::aux::transform ( const T  t[12],
x,
y,
z,
out[3] 
)

The first 9 elements of 't' are treated as a 3x3 matrix (row major order) and the last 3 as a translation. First, (x, y, z) is multiplied by that matrix and then translated. The result is saved in 'out'.

Definition at line 309 of file auxiliary.h.

template<class T >
void pcl::recognition::aux::transform ( const Eigen::Matrix< T, 4, 4 > &  mat,
const pcl::PointXYZ p,
pcl::PointXYZ out 
)

Compute out = (upper left 3x3 of mat)*p + last column of mat.

Definition at line 318 of file auxiliary.h.

template<class T >
void pcl::recognition::aux::transform ( const T  t[12],
const pcl::PointXYZ p,
out[3] 
)

The first 9 elements of 't' are treated as a 3x3 matrix (row major order) and the last 3 as a translation. First, 'p' is multiplied by that matrix and then translated. The result is saved in 'out'.

Definition at line 328 of file auxiliary.h.



pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:44:43