/usr/include/pcl-1.7/pcl/common/geometry.h is in libpcl-dev 1.7.2-14build1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 | /*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2012-, Open Perception, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#ifndef PCL_GEOMETRY_H_
#define PCL_GEOMETRY_H_
#if defined __GNUC__
# pragma GCC system_header
#endif
#include <Eigen/Core>
/**
* \file common/geometry.h
* Defines some geometrical functions and utility functions
* \ingroup common
*/
/*@{*/
namespace pcl
{
namespace geometry
{
/** @return the euclidean distance between 2 points */
template <typename PointT> inline float
distance (const PointT& p1, const PointT& p2)
{
Eigen::Vector3f diff = p1 -p2;
return (diff.norm ());
}
/** @return the squared euclidean distance between 2 points */
template<typename PointT> inline float
squaredDistance (const PointT& p1, const PointT& p2)
{
Eigen::Vector3f diff = p1 -p2;
return (diff.squaredNorm ());
}
/** @return the point projection on a plane defined by its origin and normal vector
* \param[in] point Point to be projected
* \param[in] plane_origin The plane origin
* \param[in] plane_normal The plane normal
* \param[out] projected The returned projected point
*/
template<typename PointT, typename NormalT> inline void
project (const PointT& point, const PointT &plane_origin,
const NormalT& plane_normal, PointT& projected)
{
Eigen::Vector3f po = point - plane_origin;
const Eigen::Vector3f normal = plane_normal.getVector3fMapConst ();
float lambda = normal.dot(po);
projected.getVector3fMap () = point.getVector3fMapConst () - (lambda * normal);
}
/** @return the point projection on a plane defined by its origin and normal vector
* \param[in] point Point to be projected
* \param[in] plane_origin The plane origin
* \param[in] plane_normal The plane normal
* \param[out] projected The returned projected point
*/
inline void
project (const Eigen::Vector3f& point, const Eigen::Vector3f &plane_origin,
const Eigen::Vector3f& plane_normal, Eigen::Vector3f& projected)
{
Eigen::Vector3f po = point - plane_origin;
float lambda = plane_normal.dot(po);
projected = point - (lambda * plane_normal);
}
}
}
/*@}*/
#endif //#ifndef PCL_GEOMETRY_H_
|