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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<title>Point Cloud Library (PCL): pcl/recognition/ransac_based/auxiliary.h Source File</title>
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 <span id="projectnumber">1.14.1-dev</span>
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<li class="navelem"><a class="el" href="dir_506f4b5c21e68a1f0cdcd8f359404a1f.html">pcl</a></li><li class="navelem"><a class="el" href="dir_e84f9d06135eb4af4fdb57ef4c0340ad.html">recognition</a></li><li class="navelem"><a class="el" href="dir_66b5be9c00824bf2f1669b69fd10a4b1.html">ransac_based</a></li> </ul>
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<div class="title">auxiliary.h</div> </div>
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<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include <Eigen/Core></span> <span class="comment">// for Matrix</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <Eigen/Geometry></span> <span class="comment">// for AngleAxis</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#define AUX_PI_FLOAT 3.14159265358979323846f</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#define AUX_HALF_PI 1.57079632679489661923f</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#define AUX_DEG_TO_RADIANS (3.14159265358979323846f/180.0f)</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> {</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keyword">namespace </span>recognition</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  {</div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html"> 52</a></span>  <span class="keyword">namespace </span>aux</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  {</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#acf960f6ae1645795d45fc9f428db19cd"> 55</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#acf960f6ae1645795d45fc9f428db19cd">compareOrderedPairs</a> (<span class="keyword">const</span> std::pair<T,T>& a, <span class="keyword">const</span> std::pair<T,T>& b)</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  {</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordflow">if</span> ( a.first == b.first )</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keywordflow">return</span> a.second < b.second;</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  </div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keywordflow">return</span> a.first < b.first;</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  }</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  </div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T> T</div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#abc2c6eac0561ecd721c1ce0c5b682dab"> 64</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#abc2c6eac0561ecd721c1ce0c5b682dab">sqr</a> (T a)</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  {</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keywordflow">return</span> (a*a);</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  }</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  </div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T> T</div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#a8f79d41d804fc5acbe2ca96db9b70a35"> 70</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a8f79d41d804fc5acbe2ca96db9b70a35">clamp</a> (T value, T min, T max)</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  {</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keywordflow">if</span> ( value < min )</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keywordflow">return</span> min;</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keywordflow">if</span> ( value > max )</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordflow">return</span> max;</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  </div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordflow">return</span> value;</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  }</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> <span class="comment"></span> </div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="comment"> /** \brief Expands the destination bounding box 'dst' such that it contains 'src'. */</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#ac40f6071dc5a8d89fa8387c819fa250e"> 82</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#ac40f6071dc5a8d89fa8387c819fa250e">expandBoundingBox</a> (T dst[6], <span class="keyword">const</span> T src[6])</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  {</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordflow">if</span> ( src[0] < dst[0] ) dst[0] = src[0];</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordflow">if</span> ( src[2] < dst[2] ) dst[2] = src[2];</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordflow">if</span> ( src[4] < dst[4] ) dst[4] = src[4];</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  </div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordflow">if</span> ( src[1] > dst[1] ) dst[1] = src[1];</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keywordflow">if</span> ( src[3] > dst[3] ) dst[3] = src[3];</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keywordflow">if</span> ( src[5] > dst[5] ) dst[5] = src[5];</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  }</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="comment"></span> </div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="comment"> /** \brief Expands the bounding box 'bbox' such that it contains the point 'p'. */</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#a095e4c7073f017f279138e9adeedc72c"> 95</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a095e4c7073f017f279138e9adeedc72c">expandBoundingBoxToContainPoint</a> (T bbox[6], <span class="keyword">const</span> T p[3])</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  {</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordflow">if</span> ( p[0] < bbox[0] ) bbox[0] = p[0];</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> ( p[0] > bbox[1] ) bbox[1] = p[0];</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  </div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordflow">if</span> ( p[1] < bbox[2] ) bbox[2] = p[1];</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> ( p[1] > bbox[3] ) bbox[3] = p[1];</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  </div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordflow">if</span> ( p[2] < bbox[4] ) bbox[4] = p[2];</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> ( p[2] > bbox[5] ) bbox[5] = p[2];</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  }</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> <span class="comment"></span> </div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> <span class="comment"> /** \brief v[0] = v[1] = v[2] = value */</span></div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#a9d2cedf12ef4f3976f6817a6ea34bd0e"> 109</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a9d2cedf12ef4f3976f6817a6ea34bd0e">set3</a> (T v[3], T value)</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  {</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  v[0] = v[1] = v[2] = value;</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  }</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> <span class="comment"></span> </div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> <span class="comment"> /** \brief dst = src */</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#aa918933def68ee7964975ebc3565674f"> 116</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#aa918933def68ee7964975ebc3565674f">copy3</a> (<span class="keyword">const</span> T src[3], T dst[3])</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  {</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  dst[0] = src[0];</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  dst[1] = src[1];</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  dst[2] = src[2];</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  }</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> <span class="comment"></span> </div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> <span class="comment"> /** \brief dst = src */</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#a13a4aa96a3c2f8ed2204fef7a7c157b2"> 125</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#aa918933def68ee7964975ebc3565674f">copy3</a> (<span class="keyword">const</span> T src[3], <a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a>& dst)</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  {</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  dst.x = src[0];</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  dst.y = src[1];</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  dst.z = src[2];</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  }</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> <span class="comment"></span> </div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> <span class="comment"> /** \brief a = -a */</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#aa8b0e344a8717dd1d66bf546765d7e01"> 134</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#aa8b0e344a8717dd1d66bf546765d7e01">flip3</a> (T a[3])</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  {</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  a[0] = -a[0];</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  a[1] = -a[1];</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  a[2] = -a[2];</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  }</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="comment"></span></div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span> <span class="comment"> /** \brief a = b */</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#a43bcda26cf729b4ae08b48f2e8c5c3a8"> 143</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a43bcda26cf729b4ae08b48f2e8c5c3a8">equal3</a> (<span class="keyword">const</span> T a[3], <span class="keyword">const</span> T b[3])</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  {</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="keywordflow">return</span> (a[0] == b[0] && a[1] == b[1] && a[2] == b[2]);</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  }</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="comment"></span></div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> <span class="comment"> /** \brief a += b */</span></div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#a6203fa9df273b3ef674343afd00d4af3"> 150</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a6203fa9df273b3ef674343afd00d4af3">add3</a> (T a[3], <span class="keyword">const</span> T b[3])</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  {</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  a[0] += b[0];</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  a[1] += b[1];</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  a[2] += b[2];</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  }</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> <span class="comment"></span> </div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> <span class="comment"> /** \brief c = a + b */</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#ab36fe45068233df8dedab77923e099de"> 159</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#ab36fe45068233df8dedab77923e099de">sum3</a> (<span class="keyword">const</span> T a[3], <span class="keyword">const</span> T b[3], T c[3])</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  {</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  c[0] = a[0] + b[0];</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  c[1] = a[1] + b[1];</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  c[2] = a[2] + b[2];</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  }</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span> <span class="comment"></span> </div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span> <span class="comment"> /** \brief c = a - b */</span></div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#a9452cae8b272283055e54a477b99dbd8"> 168</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a9452cae8b272283055e54a477b99dbd8">diff3</a> (<span class="keyword">const</span> T a[3], <span class="keyword">const</span> T b[3], T c[3])</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  {</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  c[0] = a[0] - b[0];</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  c[1] = a[1] - b[1];</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  c[2] = a[2] - b[2];</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  }</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  </div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#ab77cebb4b9dd2af42235babfafb850bf"> 176</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#ab77cebb4b9dd2af42235babfafb850bf">cross3</a> (<span class="keyword">const</span> T v1[3], <span class="keyword">const</span> T v2[3], T out[3])</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  {</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  out[0] = v1[1]*v2[2] - v1[2]*v2[1];</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  out[1] = v1[2]*v2[0] - v1[0]*v2[2];</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  out[2] = v1[0]*v2[1] - v1[1]*v2[0];</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  }</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> <span class="comment"></span> </div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span> <span class="comment"> /** \brief Returns the length of v. */</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> T</div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#a488d454651536399dd1b5dd893f6e119"> 185</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a488d454651536399dd1b5dd893f6e119">length3</a> (<span class="keyword">const</span> T v[3])</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  {</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="keywordflow">return</span> (std::sqrt (v[0]*v[0] + v[1]*v[1] + v[2]*v[2]));</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  }</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span> <span class="comment"></span> </div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span> <span class="comment"> /** \brief Returns the Euclidean distance between a and b. */</span></div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> T</div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#a186c90028fd8c8e17f5bb88f584d61b6"> 192</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a186c90028fd8c8e17f5bb88f584d61b6">distance3</a> (<span class="keyword">const</span> T a[3], <span class="keyword">const</span> T b[3])</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  {</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  T l[3] = {a[0]-b[0], a[1]-b[1], a[2]-b[2]};</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="keywordflow">return</span> (<a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a488d454651536399dd1b5dd893f6e119">length3</a> (l));</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  }</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span> <span class="comment"></span> </div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span> <span class="comment"> /** \brief Returns the squared Euclidean distance between a and b. */</span></div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> T</div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#a39f0824d6f18da2017c25e6a55b93f6b"> 200</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a39f0824d6f18da2017c25e6a55b93f6b">sqrDistance3</a> (<span class="keyword">const</span> T a[3], <span class="keyword">const</span> T b[3])</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  {</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="keywordflow">return</span> (<a class="code" href="namespacepcl_1_1recognition_1_1aux.html#abc2c6eac0561ecd721c1ce0c5b682dab">aux::sqr</a> (a[0]-b[0]) + <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#abc2c6eac0561ecd721c1ce0c5b682dab">aux::sqr</a> (a[1]-b[1]) + <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#abc2c6eac0561ecd721c1ce0c5b682dab">aux::sqr</a> (a[2]-b[2]));</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  }</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span> <span class="comment"></span> </div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span> <span class="comment"> /** \brief Returns the dot product a*b */</span></div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> T</div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#a23d39e49752d91f2f9cc9bc8319f657d"> 207</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a23d39e49752d91f2f9cc9bc8319f657d">dot3</a> (<span class="keyword">const</span> T a[3], <span class="keyword">const</span> T b[3])</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  {</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="keywordflow">return</span> (a[0]*b[0] + a[1]*b[1] + a[2]*b[2]);</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  }</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span> <span class="comment"></span> </div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span> <span class="comment"> /** \brief Returns the dot product (x, y, z)*(u, v, w) = x*u + y*v + z*w */</span></div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> T</div>
<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#ad24c58f0a966519da0c9f1d725f2dc05"> 214</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a23d39e49752d91f2f9cc9bc8319f657d">dot3</a> (T x, T y, T z, T u, T v, T w)</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  {</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="keywordflow">return</span> (x*u + y*v + z*w);</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  }</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span> <span class="comment"></span> </div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span> <span class="comment"> /** \brief v = scalar*v. */</span></div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00221"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#a51479eab273da3ff425bec071cbf68a3"> 221</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a51479eab273da3ff425bec071cbf68a3">mult3</a> (T* v, T scalar)</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  {</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  v[0] *= scalar;</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  v[1] *= scalar;</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  v[2] *= scalar;</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  }</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span> <span class="comment"></span> </div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span> <span class="comment"> /** \brief out = scalar*v. */</span></div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00230"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#ae6751567aac163c226a783eecbd53299"> 230</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a51479eab273da3ff425bec071cbf68a3">mult3</a> (<span class="keyword">const</span> T* v, T scalar, T* out)</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  {</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  out[0] = v[0]*scalar;</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  out[1] = v[1]*scalar;</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  out[2] = v[2]*scalar;</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  }</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span> <span class="comment"></span> </div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span> <span class="comment"> /** \brief Normalize v */</span></div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00239"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#a893b4a678529b3cee5e18c3b17d8e64a"> 239</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a893b4a678529b3cee5e18c3b17d8e64a">normalize3</a> (T v[3])</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  {</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  T inv_len = (<span class="keyword">static_cast<</span>T<span class="keyword">></span> (1.0))/<a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a488d454651536399dd1b5dd893f6e119">aux::length3</a> (v);</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  v[0] *= inv_len;</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  v[1] *= inv_len;</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  v[2] *= inv_len;</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  }</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span> <span class="comment"></span> </div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span> <span class="comment"> /** \brief Returns the square length of v. */</span></div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> T</div>
<div class="line"><a name="l00249"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#a01b2af10317fb0e752cffb4d90d33607"> 249</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a01b2af10317fb0e752cffb4d90d33607">sqrLength3</a> (<span class="keyword">const</span> T v[3])</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  {</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <span class="keywordflow">return</span> (v[0]*v[0] + v[1]*v[1] + v[2]*v[2]);</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  }</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span> <span class="comment"></span> </div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span> <span class="comment"> /** Projects 'x' on the plane through 0 and with normal 'planeNormal' and saves the result in 'out'. */</span></div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00256"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#aa6f0bab45c4b57a4950351885efba5f7"> 256</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#aa6f0bab45c4b57a4950351885efba5f7">projectOnPlane3</a> (<span class="keyword">const</span> T x[3], <span class="keyword">const</span> T planeNormal[3], T out[3])</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  {</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  T dot = <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a23d39e49752d91f2f9cc9bc8319f657d">aux::dot3</a> (planeNormal, x);</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  <span class="comment">// Project 'x' on the plane normal</span></div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  T nproj[3] = {-dot*planeNormal[0], -dot*planeNormal[1], -dot*planeNormal[2]};</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#ab36fe45068233df8dedab77923e099de">aux::sum3</a> (x, nproj, out);</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  }</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span> <span class="comment"></span> </div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span> <span class="comment"> /** \brief Sets 'm' to the 3x3 identity matrix. */</span></div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00266"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#acd183addb7ce58ab119851528626031a"> 266</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#acd183addb7ce58ab119851528626031a">identity3x3</a> (T m[9])</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  {</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  m[0] = m[4] = m[8] = 1.0;</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  m[1] = m[2] = m[3] = m[5] = m[6] = m[7] = 0.0;</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  }</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span> <span class="comment"></span> </div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span> <span class="comment"> /** \brief out = mat*v. 'm' is an 1D array of 9 elements treated as a 3x3 matrix (row major order). */</span></div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00274"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#ae0f9a6340fbbcde03b892e89f8efde06"> 274</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#ae0f9a6340fbbcde03b892e89f8efde06">mult3x3</a>(<span class="keyword">const</span> T m[9], <span class="keyword">const</span> T v[3], T out[3])</div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  {</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  out[0] = v[0]*m[0] + v[1]*m[1] + v[2]*m[2];</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  out[1] = v[0]*m[3] + v[1]*m[4] + v[2]*m[5];</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  out[2] = v[0]*m[6] + v[1]*m[7] + v[2]*m[8];</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  }</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span> <span class="comment"></span> </div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span> <span class="comment"> /** Let x, y, z be the columns of the matrix a = [x|y|z]. The method computes out = a*m.</span></div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span> <span class="comment"> * Note that 'out' is a 1D array of 9 elements and the resulting matrix is stored in row</span></div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span> <span class="comment"> * major order, i.e., the first matrix row is (out[0] out[1] out[2]), the second</span></div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span> <span class="comment"> * (out[3] out[4] out[5]) and the third (out[6] out[7] out[8]). */</span></div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00286"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#ad43e20c3d6d462d2ba8e0b4700e4b6bf"> 286</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#ae0f9a6340fbbcde03b892e89f8efde06">mult3x3</a> (<span class="keyword">const</span> T x[3], <span class="keyword">const</span> T y[3], <span class="keyword">const</span> T z[3], <span class="keyword">const</span> T m[3][3], T out[9])</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  {</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  out[0] = x[0]*m[0][0] + y[0]*m[1][0] + z[0]*m[2][0];</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  out[1] = x[0]*m[0][1] + y[0]*m[1][1] + z[0]*m[2][1];</div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  out[2] = x[0]*m[0][2] + y[0]*m[1][2] + z[0]*m[2][2];</div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  </div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  out[3] = x[1]*m[0][0] + y[1]*m[1][0] + z[1]*m[2][0];</div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  out[4] = x[1]*m[0][1] + y[1]*m[1][1] + z[1]*m[2][1];</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  out[5] = x[1]*m[0][2] + y[1]*m[1][2] + z[1]*m[2][2];</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  </div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  out[6] = x[2]*m[0][0] + y[2]*m[1][0] + z[2]*m[2][0];</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  out[7] = x[2]*m[0][1] + y[2]*m[1][1] + z[2]*m[2][1];</div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  out[8] = x[2]*m[0][2] + y[2]*m[1][2] + z[2]*m[2][2];</div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  }</div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span> <span class="comment"></span> </div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span> <span class="comment"> /** \brief The first 9 elements of 't' are treated as a 3x3 matrix (row major order) and the last 3 as a translation.</span></div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span> <span class="comment"> * First, 'p' is multiplied by that matrix and then translated. The result is saved in 'out'. */</span></div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  <span class="keyword">template</span><<span class="keyword">class</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00304"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#a85000539949d90b04bceb4d7c4628e69"> 304</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a85000539949d90b04bceb4d7c4628e69">transform</a>(<span class="keyword">const</span> T t[12], <span class="keyword">const</span> T p[3], T out[3])</div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  {</div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  out[0] = t[0]*p[0] + t[1]*p[1] + t[2]*p[2] + t[9];</div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  out[1] = t[3]*p[0] + t[4]*p[1] + t[5]*p[2] + t[10];</div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  out[2] = t[6]*p[0] + t[7]*p[1] + t[8]*p[2] + t[11];</div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  }</div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span> <span class="comment"></span> </div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span> <span class="comment"> /** \brief The first 9 elements of 't' are treated as a 3x3 matrix (row major order) and the last 3 as a translation.</span></div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span> <span class="comment"> * First, (x, y, z) is multiplied by that matrix and then translated. The result is saved in 'out'. */</span></div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <span class="keyword">template</span><<span class="keyword">class</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00314"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#a9f30cd4722f3d57667e8f9e15950bf7e"> 314</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a85000539949d90b04bceb4d7c4628e69">transform</a>(<span class="keyword">const</span> T t[12], T x, T y, T z, T out[3])</div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  {</div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  out[0] = t[0]*x + t[1]*y + t[2]*z + t[9];</div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  out[1] = t[3]*x + t[4]*y + t[5]*z + t[10];</div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  out[2] = t[6]*x + t[7]*y + t[8]*z + t[11];</div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  }</div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span> <span class="comment"></span> </div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span> <span class="comment"> /** \brief Compute out = (upper left 3x3 of mat)*p + last column of mat. */</span></div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  <span class="keyword">template</span><<span class="keyword">class</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00323"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#afb269dbd63c2566a4e129aa85cad8b17"> 323</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a85000539949d90b04bceb4d7c4628e69">transform</a>(<span class="keyword">const</span> Eigen::Matrix<T,4,4>& mat, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a>& p, <a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a>& out)</div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  {</div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  out.x = mat(0,0)*p.x + mat(0,1)*p.y + mat(0,2)*p.z + mat(0,3);</div>
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  out.y = mat(1,0)*p.x + mat(1,1)*p.y + mat(1,2)*p.z + mat(1,3);</div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  out.z = mat(2,0)*p.x + mat(2,1)*p.y + mat(2,2)*p.z + mat(2,3);</div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  }</div>
<div class="line"><a name="l00329"></a><span class="lineno"> 329</span> <span class="comment"></span> </div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span> <span class="comment"> /** \brief The first 9 elements of 't' are treated as a 3x3 matrix (row major order) and the last 3 as a translation.</span></div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span> <span class="comment"> * First, 'p' is multiplied by that matrix and then translated. The result is saved in 'out'. */</span></div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  <span class="keyword">template</span><<span class="keyword">class</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00333"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#abf86c44a55c4bf5bff0ec32ef68bddb7"> 333</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a85000539949d90b04bceb4d7c4628e69">transform</a>(<span class="keyword">const</span> T t[12], <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a>& p, T out[3])</div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  {</div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  out[0] = t[0]*p.x + t[1]*p.y + t[2]*p.z + t[9];</div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  out[1] = t[3]*p.x + t[4]*p.y + t[5]*p.z + t[10];</div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  out[2] = t[6]*p.x + t[7]*p.y + t[8]*p.z + t[11];</div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  }</div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span> <span class="comment"></span> </div>
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span> <span class="comment"> /** \brief Returns true if the points 'p1' and 'p2' are co-planar and false otherwise. The method assumes that 'n1'</span></div>
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span> <span class="comment"> * is a normal at 'p1' and 'n2' is a normal at 'p2'. 'max_angle' is the threshold used for the test. The bigger</span></div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span> <span class="comment"> * the value the larger the deviation between the normals can be which still leads to a positive test result. The</span></div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span> <span class="comment"> * angle has to be in radians. */</span></div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00345"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#aa8fed9377b4a8035db7ea547846caf11"> 345</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#aa8fed9377b4a8035db7ea547846caf11">pointsAreCoplanar</a> (<span class="keyword">const</span> T p1[3], <span class="keyword">const</span> T n1[3], <span class="keyword">const</span> T p2[3], <span class="keyword">const</span> T n2[3], T max_angle)</div>
<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  {</div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  <span class="comment">// Compute the angle between 'n1' and 'n2' and compare it with 'max_angle'</span></div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  <span class="keywordflow">if</span> ( std::acos (<a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a8f79d41d804fc5acbe2ca96db9b70a35">aux::clamp</a> (<a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a23d39e49752d91f2f9cc9bc8319f657d">aux::dot3</a> (n1, n2), -1.0f, 1.0f)) > max_angle )</div>
<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  </div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  T cl[3] = {p2[0] - p1[0], p2[1] - p1[1], p2[2] - p1[2]};</div>
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a893b4a678529b3cee5e18c3b17d8e64a">aux::normalize3</a> (cl);</div>
<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  </div>
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  <span class="comment">// Compute the angle between 'cl' and 'n1'</span></div>
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  T tmp_angle = std::acos (<a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a8f79d41d804fc5acbe2ca96db9b70a35">aux::clamp</a> (<a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a23d39e49752d91f2f9cc9bc8319f657d">aux::dot3</a> (n1, cl), -1.0f, 1.0f));</div>
<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  </div>
<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  <span class="comment">// 'tmp_angle' should not deviate too much from 90 degrees</span></div>
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  <span class="keywordflow">if</span> ( std::fabs (tmp_angle - AUX_HALF_PI) > max_angle )</div>
<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  </div>
<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  <span class="comment">// All tests passed => the points are coplanar</span></div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  }</div>
<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  </div>
<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  <span class="keyword">template</span><<span class="keyword">typename</span> Scalar> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00366"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#a0e882eb4ee467eb690b21381e5de9a31"> 366</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a0e882eb4ee467eb690b21381e5de9a31">array12ToMatrix4x4</a> (<span class="keyword">const</span> Scalar src[12], Eigen::Matrix<Scalar, 4, 4>& dst)</div>
<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  {</div>
<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  dst(0,0) = src[0]; dst(0,1) = src[1]; dst(0,2) = src[2]; dst(0,3) = src[9];</div>
<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  dst(1,0) = src[3]; dst(1,1) = src[4]; dst(1,2) = src[5]; dst(1,3) = src[10];</div>
<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  dst(2,0) = src[6]; dst(2,1) = src[7]; dst(2,2) = src[8]; dst(2,3) = src[11];</div>
<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  dst(3,0) = dst(3,1) = dst(3,2) = 0.0; dst(3,3) = 1.0;</div>
<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  }</div>
<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  </div>
<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  <span class="keyword">template</span><<span class="keyword">typename</span> Scalar> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00375"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#a59da9c2d0888b9212161279d39b31fa5"> 375</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a59da9c2d0888b9212161279d39b31fa5">matrix4x4ToArray12</a> (<span class="keyword">const</span> Eigen::Matrix<Scalar, 4, 4>& src, Scalar dst[12])</div>
<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  {</div>
<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  dst[0] = src(0,0); dst[1] = src(0,1); dst[2] = src(0,2); dst[9] = src(0,3);</div>
<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  dst[3] = src(1,0); dst[4] = src(1,1); dst[5] = src(1,2); dst[10] = src(1,3);</div>
<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  dst[6] = src(2,0); dst[7] = src(2,1); dst[8] = src(2,2); dst[11] = src(2,3);</div>
<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  }</div>
<div class="line"><a name="l00381"></a><span class="lineno"> 381</span> <span class="comment"></span> </div>
<div class="line"><a name="l00382"></a><span class="lineno"> 382</span> <span class="comment"> /** \brief The method copies the input array 'src' to the eigen matrix 'dst' in row major order.</span></div>
<div class="line"><a name="l00383"></a><span class="lineno"> 383</span> <span class="comment"> * dst[0] = src(0,0); dst[1] = src(0,1); dst[2] = src(0,2);</span></div>
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span> <span class="comment"> * dst[3] = src(1,0); dst[4] = src(1,1); dst[5] = src(1,2);</span></div>
<div class="line"><a name="l00385"></a><span class="lineno"> 385</span> <span class="comment"> * dst[6] = src(2,0); dst[7] = src(2,1); dst[8] = src(2,2);</span></div>
<div class="line"><a name="l00386"></a><span class="lineno"> 386</span> <span class="comment"> * */</span></div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00388"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#a91b1bc5692ad2b8ea5523a81354c3983"> 388</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a91b1bc5692ad2b8ea5523a81354c3983">eigenMatrix3x3ToArray9RowMajor</a> (<span class="keyword">const</span> Eigen::Matrix<T,3,3>& src, T dst[9])</div>
<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  {</div>
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  dst[0] = src(0,0); dst[1] = src(0,1); dst[2] = src(0,2);</div>
<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  dst[3] = src(1,0); dst[4] = src(1,1); dst[5] = src(1,2);</div>
<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  dst[6] = src(2,0); dst[7] = src(2,1); dst[8] = src(2,2);</div>
<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  }</div>
<div class="line"><a name="l00394"></a><span class="lineno"> 394</span> <span class="comment"></span> </div>
<div class="line"><a name="l00395"></a><span class="lineno"> 395</span> <span class="comment"> /** \brief The method copies the input array 'src' to the eigen matrix 'dst' in row major order.</span></div>
<div class="line"><a name="l00396"></a><span class="lineno"> 396</span> <span class="comment"> * dst(0,0) = src[0]; dst(0,1) = src[1]; dst(0,2) = src[2];</span></div>
<div class="line"><a name="l00397"></a><span class="lineno"> 397</span> <span class="comment"> * dst(1,0) = src[3]; dst(1,1) = src[4]; dst(1,2) = src[5];</span></div>
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span> <span class="comment"> * dst(2,0) = src[6]; dst(2,1) = src[7]; dst(2,2) = src[8];</span></div>
<div class="line"><a name="l00399"></a><span class="lineno"> 399</span> <span class="comment"> * */</span></div>
<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00401"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#a932cac3333b70ceba4e1af3e37d18ccd"> 401</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a932cac3333b70ceba4e1af3e37d18ccd">toEigenMatrix3x3RowMajor</a> (<span class="keyword">const</span> T src[9], Eigen::Matrix<T,3,3>& dst)</div>
<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  {</div>
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  dst(0,0) = src[0]; dst(0,1) = src[1]; dst(0,2) = src[2];</div>
<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  dst(1,0) = src[3]; dst(1,1) = src[4]; dst(1,2) = src[5];</div>
<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  dst(2,0) = src[6]; dst(2,1) = src[7]; dst(2,2) = src[8];</div>
<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  }</div>
<div class="line"><a name="l00407"></a><span class="lineno"> 407</span> <span class="comment"></span> </div>
<div class="line"><a name="l00408"></a><span class="lineno"> 408</span> <span class="comment"> /** brief Computes a rotation matrix from the provided input vector 'axis_angle'. The direction of 'axis_angle' is the rotation axis</span></div>
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span> <span class="comment"> * and its magnitude is the angle of rotation about that axis. 'rotation_matrix' is the output rotation matrix saved in row major order. */</span></div>
<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00411"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#a20c2e4603233d564e2a4841a7353082e"> 411</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a20c2e4603233d564e2a4841a7353082e">axisAngleToRotationMatrix</a> (<span class="keyword">const</span> T axis_angle[3], T rotation_matrix[9])</div>
<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  {</div>
<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  <span class="comment">// Get the angle of rotation</span></div>
<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  T angle = <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a488d454651536399dd1b5dd893f6e119">aux::length3</a> (axis_angle);</div>
<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  <span class="keywordflow">if</span> ( angle == 0.0 )</div>
<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  {</div>
<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  <span class="comment">// Undefined rotation -> set to identity</span></div>
<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#acd183addb7ce58ab119851528626031a">aux::identity3x3</a> (rotation_matrix);</div>
<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  }</div>
<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  </div>
<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  <span class="comment">// Normalize the input</span></div>
<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  T normalized_axis_angle[3];</div>
<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a51479eab273da3ff425bec071cbf68a3">aux::mult3</a> (axis_angle, <span class="keyword">static_cast<</span>T<span class="keyword">></span> (1.0)/angle, normalized_axis_angle);</div>
<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  </div>
<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  <span class="comment">// The eigen objects</span></div>
<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  Eigen::Matrix<T,3,1> mat_axis(normalized_axis_angle);</div>
<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  Eigen::AngleAxis<T> eigen_angle_axis (angle, mat_axis);</div>
<div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  </div>
<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  <span class="comment">// Save the output</span></div>
<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a91b1bc5692ad2b8ea5523a81354c3983">aux::eigenMatrix3x3ToArray9RowMajor</a> (eigen_angle_axis.toRotationMatrix (), rotation_matrix);</div>
<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  }</div>
<div class="line"><a name="l00433"></a><span class="lineno"> 433</span> <span class="comment"></span> </div>
<div class="line"><a name="l00434"></a><span class="lineno"> 434</span> <span class="comment"> /** brief Extracts the angle-axis representation from 'rotation_matrix', i.e., computes a rotation 'axis' and an 'angle'</span></div>
<div class="line"><a name="l00435"></a><span class="lineno"> 435</span> <span class="comment"> * of rotation about that axis from the provided input. The output 'angle' is in the range [0, pi] and 'axis' is normalized. */</span></div>
<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00437"></a><span class="lineno"><a class="line" href="namespacepcl_1_1recognition_1_1aux.html#aedd0327525cef09455d81ca1ab0766bd"> 437</a></span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#aedd0327525cef09455d81ca1ab0766bd">rotationMatrixToAxisAngle</a> (<span class="keyword">const</span> T rotation_matrix[9], T axis[3], T& angle)</div>
<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  {</div>
<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  <span class="comment">// The eigen objects</span></div>
<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  Eigen::AngleAxis<T> angle_axis;</div>
<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  Eigen::Matrix<T,3,3> rot_mat;</div>
<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  <span class="comment">// Copy the input matrix to the eigen matrix in row major order</span></div>
<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#a932cac3333b70ceba4e1af3e37d18ccd">aux::toEigenMatrix3x3RowMajor</a> (rotation_matrix, rot_mat);</div>
<div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  </div>
<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  <span class="comment">// Do the computation</span></div>
<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  angle_axis.fromRotationMatrix (rot_mat);</div>
<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  </div>
<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  <span class="comment">// Save the result</span></div>
<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  axis[0] = angle_axis.axis () (0,0);</div>
<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  axis[1] = angle_axis.axis () (1,0);</div>
<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  axis[2] = angle_axis.axis () (2,0);</div>
<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  angle = angle_axis.angle ();</div>
<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  </div>
<div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  <span class="comment">// Make sure that 'angle' is in the range [0, pi]</span></div>
<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  <span class="keywordflow">if</span> ( angle > AUX_PI_FLOAT )</div>
<div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  {</div>
<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  angle = 2.0f*AUX_PI_FLOAT - angle;</div>
<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#aa8b0e344a8717dd1d66bf546765d7e01">aux::flip3</a> (axis);</div>
<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  }</div>
<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  }</div>
<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  } <span class="comment">// namespace aux</span></div>
<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  } <span class="comment">// namespace recognition</span></div>
<div class="line"><a name="l00463"></a><span class="lineno"> 463</span> } <span class="comment">// namespace pcl</span></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div><div class="ttdoc">Defines all the PCL implemented PointT point type structures.</div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_a01b2af10317fb0e752cffb4d90d33607"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#a01b2af10317fb0e752cffb4d90d33607">pcl::recognition::aux::sqrLength3</a></div><div class="ttdeci">T sqrLength3(const T v[3])</div><div class="ttdoc">Returns the square length of v.</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00249">auxiliary.h:249</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_a095e4c7073f017f279138e9adeedc72c"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#a095e4c7073f017f279138e9adeedc72c">pcl::recognition::aux::expandBoundingBoxToContainPoint</a></div><div class="ttdeci">void expandBoundingBoxToContainPoint(T bbox[6], const T p[3])</div><div class="ttdoc">Expands the bounding box 'bbox' such that it contains the point 'p'.</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00095">auxiliary.h:95</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_a0e882eb4ee467eb690b21381e5de9a31"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#a0e882eb4ee467eb690b21381e5de9a31">pcl::recognition::aux::array12ToMatrix4x4</a></div><div class="ttdeci">void array12ToMatrix4x4(const Scalar src[12], Eigen::Matrix< Scalar, 4, 4 > &dst)</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00366">auxiliary.h:366</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_a186c90028fd8c8e17f5bb88f584d61b6"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#a186c90028fd8c8e17f5bb88f584d61b6">pcl::recognition::aux::distance3</a></div><div class="ttdeci">T distance3(const T a[3], const T b[3])</div><div class="ttdoc">Returns the Euclidean distance between a and b.</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00192">auxiliary.h:192</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_a20c2e4603233d564e2a4841a7353082e"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#a20c2e4603233d564e2a4841a7353082e">pcl::recognition::aux::axisAngleToRotationMatrix</a></div><div class="ttdeci">void axisAngleToRotationMatrix(const T axis_angle[3], T rotation_matrix[9])</div><div class="ttdoc">brief Computes a rotation matrix from the provided input vector 'axis_angle'.</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00411">auxiliary.h:411</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_a23d39e49752d91f2f9cc9bc8319f657d"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#a23d39e49752d91f2f9cc9bc8319f657d">pcl::recognition::aux::dot3</a></div><div class="ttdeci">T dot3(const T a[3], const T b[3])</div><div class="ttdoc">Returns the dot product a*b.</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00207">auxiliary.h:207</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_a39f0824d6f18da2017c25e6a55b93f6b"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#a39f0824d6f18da2017c25e6a55b93f6b">pcl::recognition::aux::sqrDistance3</a></div><div class="ttdeci">T sqrDistance3(const T a[3], const T b[3])</div><div class="ttdoc">Returns the squared Euclidean distance between a and b.</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00200">auxiliary.h:200</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_a43bcda26cf729b4ae08b48f2e8c5c3a8"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#a43bcda26cf729b4ae08b48f2e8c5c3a8">pcl::recognition::aux::equal3</a></div><div class="ttdeci">bool equal3(const T a[3], const T b[3])</div><div class="ttdoc">a = b</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00143">auxiliary.h:143</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_a488d454651536399dd1b5dd893f6e119"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#a488d454651536399dd1b5dd893f6e119">pcl::recognition::aux::length3</a></div><div class="ttdeci">T length3(const T v[3])</div><div class="ttdoc">Returns the length of v.</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00185">auxiliary.h:185</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_a51479eab273da3ff425bec071cbf68a3"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#a51479eab273da3ff425bec071cbf68a3">pcl::recognition::aux::mult3</a></div><div class="ttdeci">void mult3(T *v, T scalar)</div><div class="ttdoc">v = scalar*v.</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00221">auxiliary.h:221</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_a59da9c2d0888b9212161279d39b31fa5"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#a59da9c2d0888b9212161279d39b31fa5">pcl::recognition::aux::matrix4x4ToArray12</a></div><div class="ttdeci">void matrix4x4ToArray12(const Eigen::Matrix< Scalar, 4, 4 > &src, Scalar dst[12])</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00375">auxiliary.h:375</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_a6203fa9df273b3ef674343afd00d4af3"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#a6203fa9df273b3ef674343afd00d4af3">pcl::recognition::aux::add3</a></div><div class="ttdeci">void add3(T a[3], const T b[3])</div><div class="ttdoc">a += b</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00150">auxiliary.h:150</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_a85000539949d90b04bceb4d7c4628e69"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#a85000539949d90b04bceb4d7c4628e69">pcl::recognition::aux::transform</a></div><div class="ttdeci">void transform(const T t[12], const T p[3], T out[3])</div><div class="ttdoc">The first 9 elements of 't' are treated as a 3x3 matrix (row major order) and the last 3 as a transla...</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00304">auxiliary.h:304</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_a893b4a678529b3cee5e18c3b17d8e64a"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#a893b4a678529b3cee5e18c3b17d8e64a">pcl::recognition::aux::normalize3</a></div><div class="ttdeci">void normalize3(T v[3])</div><div class="ttdoc">Normalize v.</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00239">auxiliary.h:239</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_a8f79d41d804fc5acbe2ca96db9b70a35"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#a8f79d41d804fc5acbe2ca96db9b70a35">pcl::recognition::aux::clamp</a></div><div class="ttdeci">T clamp(T value, T min, T max)</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00070">auxiliary.h:70</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_a91b1bc5692ad2b8ea5523a81354c3983"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#a91b1bc5692ad2b8ea5523a81354c3983">pcl::recognition::aux::eigenMatrix3x3ToArray9RowMajor</a></div><div class="ttdeci">void eigenMatrix3x3ToArray9RowMajor(const Eigen::Matrix< T, 3, 3 > &src, T dst[9])</div><div class="ttdoc">The method copies the input array 'src' to the eigen matrix 'dst' in row major order.</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00388">auxiliary.h:388</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_a932cac3333b70ceba4e1af3e37d18ccd"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#a932cac3333b70ceba4e1af3e37d18ccd">pcl::recognition::aux::toEigenMatrix3x3RowMajor</a></div><div class="ttdeci">void toEigenMatrix3x3RowMajor(const T src[9], Eigen::Matrix< T, 3, 3 > &dst)</div><div class="ttdoc">The method copies the input array 'src' to the eigen matrix 'dst' in row major order.</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00401">auxiliary.h:401</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_a9452cae8b272283055e54a477b99dbd8"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#a9452cae8b272283055e54a477b99dbd8">pcl::recognition::aux::diff3</a></div><div class="ttdeci">void diff3(const T a[3], const T b[3], T c[3])</div><div class="ttdoc">c = a - b</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00168">auxiliary.h:168</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_a9d2cedf12ef4f3976f6817a6ea34bd0e"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#a9d2cedf12ef4f3976f6817a6ea34bd0e">pcl::recognition::aux::set3</a></div><div class="ttdeci">void set3(T v[3], T value)</div><div class="ttdoc">v[0] = v[1] = v[2] = value</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00109">auxiliary.h:109</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_aa6f0bab45c4b57a4950351885efba5f7"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#aa6f0bab45c4b57a4950351885efba5f7">pcl::recognition::aux::projectOnPlane3</a></div><div class="ttdeci">void projectOnPlane3(const T x[3], const T planeNormal[3], T out[3])</div><div class="ttdoc">Projects 'x' on the plane through 0 and with normal 'planeNormal' and saves the result in 'out'.</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00256">auxiliary.h:256</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_aa8b0e344a8717dd1d66bf546765d7e01"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#aa8b0e344a8717dd1d66bf546765d7e01">pcl::recognition::aux::flip3</a></div><div class="ttdeci">void flip3(T a[3])</div><div class="ttdoc">a = -a</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00134">auxiliary.h:134</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_aa8fed9377b4a8035db7ea547846caf11"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#aa8fed9377b4a8035db7ea547846caf11">pcl::recognition::aux::pointsAreCoplanar</a></div><div class="ttdeci">bool pointsAreCoplanar(const T p1[3], const T n1[3], const T p2[3], const T n2[3], T max_angle)</div><div class="ttdoc">Returns true if the points 'p1' and 'p2' are co-planar and false otherwise.</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00345">auxiliary.h:345</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_aa918933def68ee7964975ebc3565674f"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#aa918933def68ee7964975ebc3565674f">pcl::recognition::aux::copy3</a></div><div class="ttdeci">void copy3(const T src[3], T dst[3])</div><div class="ttdoc">dst = src</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00116">auxiliary.h:116</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_ab36fe45068233df8dedab77923e099de"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#ab36fe45068233df8dedab77923e099de">pcl::recognition::aux::sum3</a></div><div class="ttdeci">void sum3(const T a[3], const T b[3], T c[3])</div><div class="ttdoc">c = a + b</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00159">auxiliary.h:159</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_ab77cebb4b9dd2af42235babfafb850bf"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#ab77cebb4b9dd2af42235babfafb850bf">pcl::recognition::aux::cross3</a></div><div class="ttdeci">void cross3(const T v1[3], const T v2[3], T out[3])</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00176">auxiliary.h:176</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_abc2c6eac0561ecd721c1ce0c5b682dab"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#abc2c6eac0561ecd721c1ce0c5b682dab">pcl::recognition::aux::sqr</a></div><div class="ttdeci">T sqr(T a)</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00064">auxiliary.h:64</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_ac40f6071dc5a8d89fa8387c819fa250e"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#ac40f6071dc5a8d89fa8387c819fa250e">pcl::recognition::aux::expandBoundingBox</a></div><div class="ttdeci">void expandBoundingBox(T dst[6], const T src[6])</div><div class="ttdoc">Expands the destination bounding box 'dst' such that it contains 'src'.</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00082">auxiliary.h:82</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_acd183addb7ce58ab119851528626031a"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#acd183addb7ce58ab119851528626031a">pcl::recognition::aux::identity3x3</a></div><div class="ttdeci">void identity3x3(T m[9])</div><div class="ttdoc">Sets 'm' to the 3x3 identity matrix.</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00266">auxiliary.h:266</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_acf960f6ae1645795d45fc9f428db19cd"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#acf960f6ae1645795d45fc9f428db19cd">pcl::recognition::aux::compareOrderedPairs</a></div><div class="ttdeci">bool compareOrderedPairs(const std::pair< T, T > &a, const std::pair< T, T > &b)</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00055">auxiliary.h:55</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_ae0f9a6340fbbcde03b892e89f8efde06"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#ae0f9a6340fbbcde03b892e89f8efde06">pcl::recognition::aux::mult3x3</a></div><div class="ttdeci">void mult3x3(const T m[9], const T v[3], T out[3])</div><div class="ttdoc">out = mat*v.</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00274">auxiliary.h:274</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_aedd0327525cef09455d81ca1ab0766bd"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#aedd0327525cef09455d81ca1ab0766bd">pcl::recognition::aux::rotationMatrixToAxisAngle</a></div><div class="ttdeci">void rotationMatrixToAxisAngle(const T rotation_matrix[9], T axis[3], T &angle)</div><div class="ttdoc">brief Extracts the angle-axis representation from 'rotation_matrix', i.e., computes a rotation 'axis'...</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00437">auxiliary.h:437</a></div></div>
<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates.</div><div class="ttdef"><b>Definition:</b> <a href="point__types_8hpp_source.html#l00321">point_types.hpp:322</a></div></div>
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