158 lines
7.1 KiB
C++
158 lines
7.1 KiB
C++
/*
|
|
* Software License Agreement (BSD License)
|
|
*
|
|
* Copyright (c) 2010, Willow Garage, Inc.
|
|
* All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * Redistributions in binary form must reproduce the above
|
|
* copyright notice, this list of conditions and the following
|
|
* disclaimer in the documentation and/or other materials provided
|
|
* with the distribution.
|
|
* * Neither the name of the copyright holder(s) nor the names of its
|
|
* contributors may be used to endorse or promote products derived
|
|
* from this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
* $Id$
|
|
*
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <pcl/ModelCoefficients.h>
|
|
#include <pcl/common/common.h>
|
|
#include <pcl/common/distances.h>
|
|
|
|
/**
|
|
* \file pcl/common/intersections.h
|
|
* Define line with line intersection functions
|
|
* \ingroup common
|
|
*/
|
|
|
|
/*@{*/
|
|
namespace pcl
|
|
{
|
|
/** \brief Get the intersection of a two 3D lines in space as a 3D point
|
|
* \param[in] line_a the coefficients of the first line (point, direction)
|
|
* \param[in] line_b the coefficients of the second line (point, direction)
|
|
* \param[out] point holder for the computed 3D point
|
|
* \param[in] sqr_eps maximum allowable squared distance to the true solution
|
|
* \ingroup common
|
|
*/
|
|
PCL_EXPORTS inline bool
|
|
lineWithLineIntersection (const Eigen::VectorXf &line_a,
|
|
const Eigen::VectorXf &line_b,
|
|
Eigen::Vector4f &point,
|
|
double sqr_eps = 1e-4);
|
|
|
|
/** \brief Get the intersection of a two 3D lines in space as a 3D point
|
|
* \param[in] line_a the coefficients of the first line (point, direction)
|
|
* \param[in] line_b the coefficients of the second line (point, direction)
|
|
* \param[out] point holder for the computed 3D point
|
|
* \param[in] sqr_eps maximum allowable squared distance to the true solution
|
|
* \ingroup common
|
|
*/
|
|
|
|
PCL_EXPORTS inline bool
|
|
lineWithLineIntersection (const pcl::ModelCoefficients &line_a,
|
|
const pcl::ModelCoefficients &line_b,
|
|
Eigen::Vector4f &point,
|
|
double sqr_eps = 1e-4);
|
|
|
|
/** \brief Determine the line of intersection of two non-parallel planes using lagrange multipliers
|
|
* \note Described in: "Intersection of Two Planes, John Krumm, Microsoft Research, Redmond, WA, USA"
|
|
* \param[in] plane_a coefficients of plane A and plane B in the form ax + by + cz + d = 0
|
|
* \param[in] plane_b coefficients of line where line.tail<3>() = direction vector and
|
|
* line.head<3>() the point on the line clossest to (0, 0, 0)
|
|
* \param[out] line the intersected line to be filled
|
|
* \param[in] angular_tolerance tolerance in radians
|
|
* \return true if succeeded/planes aren't parallel
|
|
*/
|
|
PCL_EXPORTS template <typename Scalar> 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 = 0.1);
|
|
|
|
PCL_EXPORTS inline bool
|
|
planeWithPlaneIntersection (const Eigen::Vector4f &plane_a,
|
|
const Eigen::Vector4f &plane_b,
|
|
Eigen::VectorXf &line,
|
|
double angular_tolerance = 0.1)
|
|
{
|
|
return (planeWithPlaneIntersection<float> (plane_a, plane_b, line, angular_tolerance));
|
|
}
|
|
|
|
PCL_EXPORTS inline bool
|
|
planeWithPlaneIntersection (const Eigen::Vector4d &plane_a,
|
|
const Eigen::Vector4d &plane_b,
|
|
Eigen::VectorXd &line,
|
|
double angular_tolerance = 0.1)
|
|
{
|
|
return (planeWithPlaneIntersection<double> (plane_a, plane_b, line, angular_tolerance));
|
|
}
|
|
|
|
/** \brief Determine the point of intersection of three non-parallel planes by solving the equations.
|
|
* \note If using nearly parallel planes you can lower the determinant_tolerance value. This can
|
|
* lead to inconsistent results.
|
|
* If the three planes intersects in a line the point will be anywhere on the line.
|
|
* \param[in] plane_a are the coefficients of the first plane in the form ax + by + cz + d = 0
|
|
* \param[in] plane_b are the coefficients of the second plane
|
|
* \param[in] plane_c are the coefficients of the third plane
|
|
* \param[in] determinant_tolerance is a limit to determine whether planes are parallel or not
|
|
* \param[out] intersection_point the three coordinates x, y, z of the intersection point
|
|
* \return true if succeeded/planes aren't parallel
|
|
*/
|
|
PCL_EXPORTS template <typename Scalar> 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 = 1e-6);
|
|
|
|
|
|
PCL_EXPORTS inline bool
|
|
threePlanesIntersection (const Eigen::Vector4f &plane_a,
|
|
const Eigen::Vector4f &plane_b,
|
|
const Eigen::Vector4f &plane_c,
|
|
Eigen::Vector3f &intersection_point,
|
|
double determinant_tolerance = 1e-6)
|
|
{
|
|
return (threePlanesIntersection<float> (plane_a, plane_b, plane_c,
|
|
intersection_point, determinant_tolerance));
|
|
}
|
|
|
|
PCL_EXPORTS inline bool
|
|
threePlanesIntersection (const Eigen::Vector4d &plane_a,
|
|
const Eigen::Vector4d &plane_b,
|
|
const Eigen::Vector4d &plane_c,
|
|
Eigen::Vector3d &intersection_point,
|
|
double determinant_tolerance = 1e-6)
|
|
{
|
|
return (threePlanesIntersection<double> (plane_a, plane_b, plane_c,
|
|
intersection_point, determinant_tolerance));
|
|
}
|
|
|
|
}
|
|
/*@}*/
|
|
|
|
#include <pcl/common/impl/intersections.hpp>
|