Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/common/include/pcl/common/intersections.h
00001 /*
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00037 #ifndef PCL_INTERSECTIONS_H_
00038 #define PCL_INTERSECTIONS_H_
00039 
00040 #include <pcl/ModelCoefficients.h>
00041 #include <pcl/common/common.h>
00042 #include <pcl/common/distances.h>
00043 
00044 /** 
00045   * \file pcl/common/intersections.h
00046   * Define line with line intersection functions
00047   * \ingroup common
00048   */
00049 
00050 /*@{*/
00051 namespace pcl
00052 {
00053   /** \brief Get the intersection of a two 3D lines in space as a 3D point
00054     * \param[in] line_a the coefficients of the first line (point, direction)
00055     * \param[in] line_b the coefficients of the second line (point, direction)
00056     * \param[out] point holder for the computed 3D point
00057     * \param[in] sqr_eps maximum allowable squared distance to the true solution
00058     * \ingroup common
00059     */
00060   PCL_EXPORTS bool
00061   lineWithLineIntersection (const Eigen::VectorXf &line_a, 
00062                             const Eigen::VectorXf &line_b, 
00063                             Eigen::Vector4f &point, double sqr_eps = 1e-4);
00064 
00065   /** \brief Get the intersection of a two 3D lines in space as a 3D point
00066     * \param[in] line_a the coefficients of the first line (point, direction)
00067     * \param[in] line_b the coefficients of the second line (point, direction)
00068     * \param[out] point holder for the computed 3D point
00069     * \param[in] sqr_eps maximum allowable squared distance to the true solution
00070     * \ingroup common
00071     */
00072   PCL_EXPORTS bool
00073   lineWithLineIntersection (const pcl::ModelCoefficients &line_a, 
00074                             const pcl::ModelCoefficients &line_b, 
00075                             Eigen::Vector4f &point, double sqr_eps = 1e-4);
00076 
00077   /** \brief Determine the line of intersection of two non-parallel planes using lagrange multipliers
00078     * \note Described in: "Intersection of Two Planes, John Krumm, Microsoft Research, Redmond, WA, USA"
00079     * \param[in] plane_a coefficients of plane A and plane B in the form ax + by + cz + d = 0
00080     * \param[out] plane_b coefficients of line where line.tail<3>() = direction vector and
00081     * line.head<3>() the point on the line clossest to (0, 0, 0)
00082     * \return true if succeeded/planes aren't parallel
00083     */
00084   PCL_EXPORTS bool
00085   planeWithPlaneIntersection (const Eigen::Vector4f &plane_a,
00086                               const Eigen::Vector4f &fplane_b,
00087                               Eigen::VectorXf &line,
00088                               double angular_tolerance = 0.1);
00089 }
00090 /*@}*/
00091 #endif  //#ifndef PCL_INTERSECTIONS_H_
00092