distances.h

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00001 /*
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00034  * $Id: distances.h 1370 2011-06-19 01:06:01Z jspricke $
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00036  */
00037 #ifndef PCL_DISTANCES_H_
00038 #define PCL_DISTANCES_H_
00039 
00040 #include <pcl/common/common.h>
00041 
00049 namespace pcl
00050 {
00058   PCL_EXPORTS void
00059   lineToLineSegment (const Eigen::VectorXf &line_a, const Eigen::VectorXf &line_b, 
00060                      Eigen::Vector4f &pt1_seg, Eigen::Vector4f &pt2_seg);
00061 
00068   double inline
00069   sqrPointToLineDistance (const Eigen::Vector4f &pt, const Eigen::Vector4f &line_pt, const Eigen::Vector4f &line_dir)
00070   {
00071     // Calculate the distance from the point to the line
00072     // D = ||(P2-P1) x (P1-P0)|| / ||P2-P1|| = norm (cross (p2-p1, p1-p0)) / norm(p2-p1)
00073     return (line_dir.cross3 (line_pt - pt)).squaredNorm () / line_dir.squaredNorm ();
00074   }
00075 
00084   double inline
00085   sqrPointToLineDistance (const Eigen::Vector4f &pt, const Eigen::Vector4f &line_pt, const Eigen::Vector4f &line_dir, const double sqr_length)
00086   {
00087     // Calculate the distance from the point to the line
00088     // D = ||(P2-P1) x (P1-P0)|| / ||P2-P1|| = norm (cross (p2-p1, p1-p0)) / norm(p2-p1)
00089     return (line_dir.cross3 (line_pt - pt)).squaredNorm () / sqr_length;
00090   }
00091 }
00092 /*@*/
00093 #endif  //#ifndef PCL_DISTANCES_H_
00094