distances.h

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/*
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 * $Id: distances.h 4656 2012-02-22 08:31:48Z rusu $
 *
 */
#ifndef PCL_DISTANCES_H_
#define PCL_DISTANCES_H_

#include <pcl/common/common.h>

namespace pcl
{
  PCL_EXPORTS void
  lineToLineSegment (const Eigen::VectorXf &line_a, const Eigen::VectorXf &line_b, 
                     Eigen::Vector4f &pt1_seg, Eigen::Vector4f &pt2_seg);

  double inline
  sqrPointToLineDistance (const Eigen::Vector4f &pt, const Eigen::Vector4f &line_pt, const Eigen::Vector4f &line_dir)
  {
    // Calculate the distance from the point to the line
    // D = ||(P2-P1) x (P1-P0)|| / ||P2-P1|| = norm (cross (p2-p1, p1-p0)) / norm(p2-p1)
    return (line_dir.cross3 (line_pt - pt)).squaredNorm () / line_dir.squaredNorm ();
  }

  double inline
  sqrPointToLineDistance (const Eigen::Vector4f &pt, const Eigen::Vector4f &line_pt, const Eigen::Vector4f &line_dir, const double sqr_length)
  {
    // Calculate the distance from the point to the line
    // D = ||(P2-P1) x (P1-P0)|| / ||P2-P1|| = norm (cross (p2-p1, p1-p0)) / norm(p2-p1)
    return (line_dir.cross3 (line_pt - pt)).squaredNorm () / sqr_length;
  }

  template <typename PointT> double inline
  getMaxSegment (const pcl::PointCloud<PointT> &cloud, 
                 PointT &pmin, PointT &pmax)
  {
    double max_dist = std::numeric_limits<double>::min ();
    int i_min = -1, i_max = -1;

    for (size_t i = 0; i < cloud.points.size (); ++i)
    {
      for (size_t j = i; j < cloud.points.size (); ++j)
      {
        // Compute the distance 
        double dist = (cloud.points[i].getVector4fMap () - 
                       cloud.points[j].getVector4fMap ()).squaredNorm ();
        if (dist <= max_dist)
          continue;

        max_dist = dist;
        i_min = i;
        i_max = j;
      }
    }

    if (i_min == -1 || i_max == -1)
      return (max_dist = std::numeric_limits<double>::min ());

    pmin = cloud.points[i_min];
    pmax = cloud.points[i_max];
    return (std::sqrt (max_dist));
  }
 
  template <typename PointT> double inline
  getMaxSegment (const pcl::PointCloud<PointT> &cloud, const std::vector<int> &indices,
                 PointT &pmin, PointT &pmax)
  {
    double max_dist = std::numeric_limits<double>::min ();
    int i_min = -1, i_max = -1;

    for (size_t i = 0; i < indices.size (); ++i)
    {
      for (size_t j = i; j < indices.size (); ++j)
      {
        // Compute the distance 
        double dist = (cloud.points[indices[i]].getVector4fMap () - 
                       cloud.points[indices[j]].getVector4fMap ()).squaredNorm ();
        if (dist <= max_dist)
          continue;

        max_dist = dist;
        i_min = i;
        i_max = j;
      }
    }

    if (i_min == -1 || i_max == -1)
      return (max_dist = std::numeric_limits<double>::min ());

    pmin = cloud.points[indices[i_min]];
    pmax = cloud.points[indices[i_max]];
    return (std::sqrt (max_dist));
  }

  template<typename PointType1, typename PointType2> inline float
  squaredEuclideanDistance (const PointType1& p1, const PointType2& p2)
  {
    float diff_x = p2.x - p1.x, diff_y = p2.y - p1.y, diff_z = p2.z - p1.z;
    return (diff_x*diff_x + diff_y*diff_y + diff_z*diff_z);
  }
  template<typename PointType1, typename PointType2> inline float
  euclideanDistance (const PointType1& p1, const PointType2& p2)
  {
    return (sqrtf (squaredEuclideanDistance (p1, p2)));
  }
}
/*@*/
#endif  //#ifndef PCL_DISTANCES_H_