Point Cloud Library (PCL)  1.7.0
pcl::recognition::aux Namespace Reference

## Functions

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

template<typename T >
sqr (T a)

template<typename T >
clamp (T value, T min, T max)

template<typename T >
void expandBoundingBox (T dst[6], const T src[6])
Expands the destination bounding box 'dst' such that it contains 'src'. More...

template<typename T >
void expandBoundingBoxToContainPoint (T bbox[6], const T p[3])
Expands the bounding box 'bbox' such that it contains the point 'p'. More...

template<typename T >
void set3 (T v[3], T value)
v[0] = v[1] = v[2] = value More...

template<typename T >
void copy3 (const T src[3], T dst[3])
dst = src More...

template<typename T >
void copy3 (const T src[3], pcl::PointXYZ &dst)
dst = src More...

template<typename T >
void flip3 (T a[3])
a = -a More...

template<typename T >
void add3 (T a[3], const T b[3])
a += b More...

template<typename T >
void sum3 (const T a[3], const T b[3], T c[3])
c = a + b More...

template<typename T >
void diff3 (const T a[3], const T b[3], T c[3])
c = a - b More...

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

template<typename T >
length3 (const T v[3])
Returns the length of v. More...

template<typename T >
distance3 (const T a[3], const T b[3])
Returns the Euclidean distance between a and b. More...

template<typename T >
sqrDistance3 (const T a[3], const T b[3])
Returns the squared Euclidean distance between a and b. More...

template<typename T >
dot3 (const T a[3], const T b[3])
Returns the dot product a*b. More...

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. More...

template<typename T >
void mult3 (T *v, T scalar)
v = scalar*v. More...

template<typename T >
void mult3 (const T *v, T scalar, T *out)
out = scalar*v. More...

template<typename T >
void normalize3 (T v[3])
Normalize v. More...

template<typename T >
sqrLength3 (const T v[3])
Returns the square length of v. More...

template<typename T >
void projectOnPlane3 (const T x[3], const T planeNormal[3], T out[3])
Projects 'x' on the plane through 0 and with normal 'planeNormal' and saves the result in 'out'. More...

template<typename T >
void identity3x3 (T m[9])
Sets 'm' to the 3x3 identity matrix. More...

template<typename T >
void mult3x3 (const T m[9], const T v[3], T out[3])
out = mat*v. More...

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])
Let x, y, z be the columns of the matrix a = [x|y|z]. More...

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. More...

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. More...

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. More...

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. More...

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. More...

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

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

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. More...

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. More...

template<typename T >
void axisAngleToRotationMatrix (const T axis_angle[3], T rotation_matrix[9])
brief Computes a rotation matrix from the provided input vector 'axis_angle'. More...

template<typename T >
void rotationMatrixToAxisAngle (const T rotation_matrix[9], T 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. More...

## Function Documentation

template<typename T >
 void pcl::recognition::aux::add3 ( T 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], T 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.

References eigenMatrix3x3ToArray9RowMajor(), identity3x3(), length3(), and mult3().

template<typename T >
 T pcl::recognition::aux::clamp ( T value, T min, T 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], T 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], T out[3] )

Definition at line 171 of file auxiliary.h.

Referenced by pcl::recognition::ObjRecRANSAC::computeRigidTransform().

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

c = a - b

Definition at line 163 of file auxiliary.h.

Referenced by pcl::recognition::ObjRecRANSAC::computeRigidTransform().

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.

References length3().

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 ( 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.

Definition at line 209 of file auxiliary.h.

template<typename T >
 void pcl::recognition::aux::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);

Definition at line 383 of file auxiliary.h.

Referenced by axisAngleToRotationMatrix().

template<typename T >
 void pcl::recognition::aux::expandBoundingBox ( T 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.

Referenced by pcl::recognition::BVH< UserData >::Node::Node().

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

a = -a

Definition at line 136 of file auxiliary.h.

Referenced by rotationMatrixToAxisAngle().

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

Sets 'm' to the 3x3 identity matrix.

Definition at line 261 of file auxiliary.h.

Referenced by axisAngleToRotationMatrix().

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

Referenced by pcl::recognition::ObjRecRANSAC::computeRigidTransform().

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], T 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 ( T v[3])

Normalize v.

Definition at line 234 of file auxiliary.h.

References length3().

template<typename T >
 bool pcl::recognition::aux::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.

Definition at line 340 of file auxiliary.h.

References clamp(), dot3(), and normalize3().

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

References dot3(), and sum3().

Referenced by pcl::recognition::ObjRecRANSAC::computeRigidTransform().

template<typename T >
 void pcl::recognition::aux::rotationMatrixToAxisAngle ( const T rotation_matrix[9], T 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.

References flip3(), and toEigenMatrix3x3RowMajor().

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

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

Definition at line 111 of file auxiliary.h.

Referenced by pcl::recognition::RotationSpaceCell::Entry::Entry().

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

Definition at line 66 of file auxiliary.h.

Referenced by sqrDistance3().

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.

References sqr().

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], T c[3] )

c = a + b

Definition at line 154 of file auxiliary.h.

Referenced by pcl::recognition::ObjRecRANSAC::computeRigidTransform(), and projectOnPlane3().

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.

Referenced by rotationMatrixToAxisAngle().

template<class T >
 void pcl::recognition::aux::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'.

Definition at line 299 of file auxiliary.h.

template<class T >
 void pcl::recognition::aux::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'.

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, 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'.

Definition at line 328 of file auxiliary.h.