common.h

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 * $Id: common.h 5026 2012-03-12 02:51:44Z rusu $
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#ifndef PCL_COMMON_H_
#define PCL_COMMON_H_

#include <pcl/pcl_base.h>
#include <cfloat>

namespace pcl
{
  inline double 
  getAngle3D (const Eigen::Vector4f &v1, const Eigen::Vector4f &v2);

  inline void 
  getMeanStd (const std::vector<float> &values, double &mean, double &stddev);

  template <typename PointT> inline void 
  getPointsInBox (const pcl::PointCloud<PointT> &cloud, Eigen::Vector4f &min_pt,
                  Eigen::Vector4f &max_pt, std::vector<int> &indices);

  template<typename PointT> inline void
  getMaxDistance (const pcl::PointCloud<PointT> &cloud, const Eigen::Vector4f &pivot_pt, Eigen::Vector4f &max_pt);

  template<typename PointT> inline void
  getMaxDistance (const pcl::PointCloud<PointT> &cloud, const std::vector<int> &indices, 
                  const Eigen::Vector4f &pivot_pt, Eigen::Vector4f &max_pt);

  template <typename PointT> inline void 
  getMinMax3D (const pcl::PointCloud<PointT> &cloud, PointT &min_pt, PointT &max_pt);
  
  template <typename PointT> inline void 
  getMinMax3D (const pcl::PointCloud<PointT> &cloud, 
               Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt);

  template <typename PointT> inline void 
  getMinMax3D (const pcl::PointCloud<PointT> &cloud, const std::vector<int> &indices, 
               Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt);

  template <typename PointT> inline void 
  getMinMax3D (const pcl::PointCloud<PointT> &cloud, const pcl::PointIndices &indices, 
               Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt);

  template <typename PointT> inline double 
  getCircumcircleRadius (const PointT &pa, const PointT &pb, const PointT &pc);

  template <typename PointT> inline void 
  getMinMax (const PointT &histogram, int len, float &min_p, float &max_p);

  PCL_EXPORTS void 
  getMinMax (const sensor_msgs::PointCloud2 &cloud, int idx, const std::string &field_name, 
             float &min_p, float &max_p);

  PCL_EXPORTS void
  getMeanStdDev (const std::vector<float> &values, double &mean, double &stddev);

}
#include <pcl/common/impl/common.hpp>

#endif  //#ifndef PCL_COMMON_H_