intersections.h

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 * $Id: intersections.h 6126 2012-07-03 20:19:58Z aichim $
 *
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#ifndef PCL_INTERSECTIONS_H_
#define PCL_INTERSECTIONS_H_

#include <pcl/ModelCoefficients.h>
#include <pcl/common/common.h>
#include <pcl/common/distances.h>

namespace pcl
{
  PCL_EXPORTS bool
  lineWithLineIntersection (const Eigen::VectorXf &line_a, 
                            const Eigen::VectorXf &line_b, 
                            Eigen::Vector4f &point, double sqr_eps = 1e-4);

  PCL_EXPORTS bool
  lineWithLineIntersection (const pcl::ModelCoefficients &line_a, 
                            const pcl::ModelCoefficients &line_b, 
                            Eigen::Vector4f &point, double sqr_eps = 1e-4);

  PCL_EXPORTS bool
  planeWithPlaneIntersection (const Eigen::Vector4f &plane_a,
                              const Eigen::Vector4f &fplane_b,
                              Eigen::VectorXf &line,
                              double angular_tolerance = 0.1);
}
#endif  //#ifndef PCL_INTERSECTIONS_H_