Point Cloud Library (PCL)  1.7.1
intersections.h
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37 #ifndef PCL_INTERSECTIONS_H_
38 #define PCL_INTERSECTIONS_H_
39 
40 #include <pcl/ModelCoefficients.h>
41 #include <pcl/common/common.h>
42 #include <pcl/common/distances.h>
43 
44 /**
45  * \file pcl/common/intersections.h
46  * Define line with line intersection functions
47  * \ingroup common
48  */
49 
50 /*@{*/
51 namespace pcl
52 {
53  /** \brief Get the intersection of a two 3D lines in space as a 3D point
54  * \param[in] line_a the coefficients of the first line (point, direction)
55  * \param[in] line_b the coefficients of the second line (point, direction)
56  * \param[out] point holder for the computed 3D point
57  * \param[in] sqr_eps maximum allowable squared distance to the true solution
58  * \ingroup common
59  */
60  PCL_EXPORTS bool
61  lineWithLineIntersection (const Eigen::VectorXf &line_a,
62  const Eigen::VectorXf &line_b,
63  Eigen::Vector4f &point, double sqr_eps = 1e-4);
64 
65  /** \brief Get the intersection of a two 3D lines in space as a 3D point
66  * \param[in] line_a the coefficients of the first line (point, direction)
67  * \param[in] line_b the coefficients of the second line (point, direction)
68  * \param[out] point holder for the computed 3D point
69  * \param[in] sqr_eps maximum allowable squared distance to the true solution
70  * \ingroup common
71  */
72  PCL_EXPORTS bool
74  const pcl::ModelCoefficients &line_b,
75  Eigen::Vector4f &point, double sqr_eps = 1e-4);
76 
77  /** \brief Determine the line of intersection of two non-parallel planes using lagrange multipliers
78  * \note Described in: "Intersection of Two Planes, John Krumm, Microsoft Research, Redmond, WA, USA"
79  * \param[in] plane_a coefficients of plane A and plane B in the form ax + by + cz + d = 0
80  * \param[out] plane_b coefficients of line where line.tail<3>() = direction vector and
81  * line.head<3>() the point on the line clossest to (0, 0, 0)
82  * \return true if succeeded/planes aren't parallel
83  */
84  PCL_EXPORTS bool
85  planeWithPlaneIntersection (const Eigen::Vector4f &plane_a,
86  const Eigen::Vector4f &fplane_b,
87  Eigen::VectorXf &line,
88  double angular_tolerance = 0.1);
89 }
90 /*@}*/
91 #endif //#ifndef PCL_INTERSECTIONS_H_
92