40#include <pcl/ModelCoefficients.h>
60 PCL_EXPORTS
inline bool
62 const Eigen::VectorXf &line_b,
63 Eigen::Vector4f &point,
64 double sqr_eps = 1e-4);
74 PCL_EXPORTS
inline bool
77 Eigen::Vector4f &point,
78 double sqr_eps = 1e-4);
89 PCL_EXPORTS
template <
typename Scalar>
bool
91 const Eigen::Matrix<Scalar, 4, 1> &plane_b,
92 Eigen::Matrix<Scalar, Eigen::Dynamic, 1> &line,
93 double angular_tolerance = 0.1);
95 PCL_EXPORTS
inline bool
98 Eigen::VectorXf &
line,
104 PCL_EXPORTS
inline bool
106 const Eigen::Vector4d &
plane_b,
107 Eigen::VectorXd &
line,
124 PCL_EXPORTS
template <
typename Scalar>
bool
126 const Eigen::Matrix<Scalar, 4, 1> &plane_b,
127 const Eigen::Matrix<Scalar, 4, 1> &plane_c,
128 Eigen::Matrix<Scalar, 3, 1> &intersection_point,
129 double determinant_tolerance = 1e-6);
132 PCL_EXPORTS
inline bool
134 const Eigen::Vector4f &
plane_b,
135 const Eigen::Vector4f &
plane_c,
143 PCL_EXPORTS
inline bool
145 const Eigen::Vector4d &
plane_b,
146 const Eigen::Vector4d &
plane_c,
157#include <pcl/common/impl/intersections.hpp>
Iterator class for point clouds with or without given indices.
Define standard C methods and C++ classes that are common to all methods.
Define standard C methods to do distance calculations.
bool lineWithLineIntersection(const Eigen::VectorXf &line_a, const Eigen::VectorXf &line_b, Eigen::Vector4f &point, double sqr_eps)
Get the intersection of a two 3D lines in space as a 3D point.
bool threePlanesIntersection(const Eigen::Matrix< Scalar, 4, 1 > &plane_a, const Eigen::Matrix< Scalar, 4, 1 > &plane_b, const Eigen::Matrix< Scalar, 4, 1 > &plane_c, Eigen::Matrix< Scalar, 3, 1 > &intersection_point, double determinant_tolerance)
Determine the point of intersection of three non-parallel planes by solving the equations.
bool planeWithPlaneIntersection(const Eigen::Matrix< Scalar, 4, 1 > &plane_a, const Eigen::Matrix< Scalar, 4, 1 > &plane_b, Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > &line, double angular_tolerance)
Determine the line of intersection of two non-parallel planes using lagrange multipliers.