Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the copyright holder(s) nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id$ 00035 * 00036 */ 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