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Point Cloud Library (PCL)
1.14.0-dev
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Functions | |
| template<typename T > | |
| bool | compareOrderedPairs (const std::pair< T, T > &a, const std::pair< T, T > &b) |
| template<typename T > | |
| T | sqr (T a) |
| template<typename T > | |
| 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 > | |
| bool | equal3 (const T a[3], const T b[3]) |
| a = b 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 > | |
| T | length3 (const T v[3]) |
| Returns the length of v. More... | |
| template<typename T > | |
| T | distance3 (const T a[3], const T b[3]) |
| Returns the Euclidean distance between a and b. More... | |
| template<typename T > | |
| T | sqrDistance3 (const T a[3], const T b[3]) |
| Returns the squared Euclidean distance between a and b. More... | |
| template<typename T > | |
| T | dot3 (const T a[3], const T b[3]) |
| Returns the dot product a*b. More... | |
| template<typename T > | |
| 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 > | |
| 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... | |
| void pcl::recognition::aux::add3 | ( | T | a[3], |
| const T | b[3] | ||
| ) |
a += b
Definition at line 150 of file auxiliary.h.
Referenced by pcl::recognition::RotationSpaceCell::Entry::addRigidTransform(), and pcl::recognition::ModelLibrary::Model::Model().
| void pcl::recognition::aux::array12ToMatrix4x4 | ( | const Scalar | src[12], |
| Eigen::Matrix< Scalar, 4, 4 > & | dst | ||
| ) |
Definition at line 366 of file auxiliary.h.
| 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 411 of file auxiliary.h.
References eigenMatrix3x3ToArray9RowMajor(), identity3x3(), length3(), and mult3().
Referenced by pcl::recognition::RotationSpaceCell::Entry::computeAverageRigidTransform().
| T pcl::recognition::aux::clamp | ( | T | value, |
| T | min, | ||
| T | max | ||
| ) |
Definition at line 70 of file auxiliary.h.
Referenced by pcl::recognition::ObjRecRANSAC::compute_oriented_point_pair_signature(), and pointsAreCoplanar().
| bool pcl::recognition::aux::compareOrderedPairs | ( | const std::pair< T, T > & | a, |
| const std::pair< T, T > & | b | ||
| ) |
Definition at line 55 of file auxiliary.h.
| void pcl::recognition::aux::copy3 | ( | const T | src[3], |
| pcl::PointXYZ & | dst | ||
| ) |
dst = src
Definition at line 125 of file auxiliary.h.
| void pcl::recognition::aux::copy3 | ( | const T | src[3], |
| T | dst[3] | ||
| ) |
dst = src
Definition at line 116 of file auxiliary.h.
Referenced by pcl::recognition::RotationSpaceCell::Entry::computeAverageRigidTransform(), pcl::recognition::RotationSpaceCell::Entry::Entry(), pcl::recognition::ModelLibrary::Model::Model(), and pcl::recognition::RotationSpaceCell::Entry::operator=().
| void pcl::recognition::aux::cross3 | ( | const T | v1[3], |
| const T | v2[3], | ||
| T | out[3] | ||
| ) |
Definition at line 176 of file auxiliary.h.
Referenced by pcl::recognition::ObjRecRANSAC::computeRigidTransform().
| void pcl::recognition::aux::diff3 | ( | const T | a[3], |
| const T | b[3], | ||
| T | c[3] | ||
| ) |
c = a - b
Definition at line 168 of file auxiliary.h.
Referenced by pcl::recognition::ObjRecRANSAC::computeRigidTransform().
| T pcl::recognition::aux::distance3 | ( | const T | a[3], |
| const T | b[3] | ||
| ) |
Returns the Euclidean distance between a and b.
Definition at line 192 of file auxiliary.h.
References length3().
| T pcl::recognition::aux::dot3 | ( | const T | a[3], |
| const T | b[3] | ||
| ) |
Returns the dot product a*b.
Definition at line 207 of file auxiliary.h.
Referenced by pcl::recognition::ObjRecRANSAC::compute_oriented_point_pair_signature(), pointsAreCoplanar(), and projectOnPlane3().
| 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 214 of file auxiliary.h.
| 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 388 of file auxiliary.h.
Referenced by axisAngleToRotationMatrix().
| bool pcl::recognition::aux::equal3 | ( | const T | a[3], |
| const T | b[3] | ||
| ) |
a = b
Definition at line 143 of file auxiliary.h.
| 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 82 of file auxiliary.h.
Referenced by pcl::recognition::BVH< UserData >::Node::Node().
| 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 95 of file auxiliary.h.
Referenced by pcl::recognition::Hypothesis::computeBounds(), and pcl::recognition::ModelLibrary::Model::Model().
| void pcl::recognition::aux::flip3 | ( | T | a[3] | ) |
| void pcl::recognition::aux::identity3x3 | ( | T | m[9] | ) |
Sets 'm' to the 3x3 identity matrix.
Definition at line 266 of file auxiliary.h.
Referenced by axisAngleToRotationMatrix().
| T pcl::recognition::aux::length3 | ( | const T | v[3] | ) |
Returns the length of v.
Definition at line 185 of file auxiliary.h.
Referenced by axisAngleToRotationMatrix(), pcl::recognition::ORROctree::Node::computeRadius(), distance3(), and normalize3().
| void pcl::recognition::aux::matrix4x4ToArray12 | ( | const Eigen::Matrix< Scalar, 4, 4 > & | src, |
| Scalar | dst[12] | ||
| ) |
Definition at line 375 of file auxiliary.h.
| void pcl::recognition::aux::mult3 | ( | const T * | v, |
| T | scalar, | ||
| T * | out | ||
| ) |
out = scalar*v.
Definition at line 230 of file auxiliary.h.
| void pcl::recognition::aux::mult3 | ( | T * | v, |
| T | scalar | ||
| ) |
v = scalar*v.
Definition at line 221 of file auxiliary.h.
Referenced by pcl::recognition::RigidTransformSpace::addRigidTransform(), axisAngleToRotationMatrix(), pcl::recognition::ORROctree::Node::Data::computeAveragePoint(), pcl::recognition::RotationSpaceCell::Entry::computeAverageRigidTransform(), and pcl::recognition::ModelLibrary::Model::Model().
| 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 274 of file auxiliary.h.
Referenced by pcl::recognition::ObjRecRANSAC::computeRigidTransform().
| 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 286 of file auxiliary.h.
| void pcl::recognition::aux::normalize3 | ( | T | v[3] | ) |
Normalize v.
Definition at line 239 of file auxiliary.h.
References length3().
Referenced by pcl::recognition::ObjRecRANSAC::compute_oriented_point_pair_signature(), pcl::recognition::ObjRecRANSAC::computeRigidTransform(), and pointsAreCoplanar().
| 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 345 of file auxiliary.h.
References clamp(), dot3(), and normalize3().
| 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 256 of file auxiliary.h.
References dot3(), and sum3().
Referenced by pcl::recognition::ObjRecRANSAC::computeRigidTransform().
| 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 437 of file auxiliary.h.
References flip3(), and toEigenMatrix3x3RowMajor().
Referenced by pcl::recognition::RigidTransformSpace::addRigidTransform().
| void pcl::recognition::aux::set3 | ( | T | v[3], |
| T | value | ||
| ) |
v[0] = v[1] = v[2] = value
Definition at line 109 of file auxiliary.h.
Referenced by pcl::recognition::RotationSpaceCell::Entry::Entry().
| T pcl::recognition::aux::sqr | ( | T | a | ) |
Definition at line 64 of file auxiliary.h.
Referenced by sqrDistance3().
| 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 200 of file auxiliary.h.
References sqr().
| T pcl::recognition::aux::sqrLength3 | ( | const T | v[3] | ) |
Returns the square length of v.
Definition at line 249 of file auxiliary.h.
| void pcl::recognition::aux::sum3 | ( | const T | a[3], |
| const T | b[3], | ||
| T | c[3] | ||
| ) |
c = a + b
Definition at line 159 of file auxiliary.h.
Referenced by pcl::recognition::ObjRecRANSAC::computeRigidTransform(), and projectOnPlane3().
| 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 401 of file auxiliary.h.
Referenced by rotationMatrixToAxisAngle().
| 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 323 of file auxiliary.h.
| 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 333 of file auxiliary.h.
| 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 304 of file auxiliary.h.
Referenced by pcl::recognition::TrimmedICP< PointT, Scalar >::align(), pcl::recognition::Hypothesis::computeBounds(), and pcl::recognition::Hypothesis::computeCenterOfMass().
| 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 314 of file auxiliary.h.