//if two points in the same plane
bool isInSamePlane(Point p1, Point p2, vector<pcl::KdTreeFLANN<Point>> trees){
for(int i=0; i<trees.size(); i++){
if(isInPlane(p1, trees.at(i))&&isInPlane(p2, trees.at(i))){
return true;
}
}
return false;
}
float plane::distance(const vector3& p)const
{
if (isInPlane(p))
return 0.0f;
return (p - point_).dotProduct(norm_);
}
bool plane::isInPlane(const line& l)const
{
auto dot = norm_.dotProduct(l.dir());
if (!floatEqual(dot, 0.0f))
return false;
return isInPlane(l.start());
}
std::pair<bool, vector3> plane::intersection(const line& l)const
{
auto ret = std::make_pair<bool, vector3>(false, vector3());
if (isInPlane(l))
return ret;
ret.first = true;
auto t = (norm_.dotProduct(point_) - norm_.dotProduct(l.start())) / (norm_.dotProduct(l.dir()));
ret.second = l.start() + t * l.dir();
return ret;
}
// bb 가 보이는지를 판정한다
bool ROcclusionList::IsVisible(rboundingbox &bb)
{
for(ROcclusionList::iterator i=begin();i!=end();i++)
{
ROcclusion *poc=*i;
bool bVisible=false;
for(int j=0;j<poc->nCount+1;j++)
{
if(isInPlane(&bb,&poc->pPlanes[j]))
{
bVisible=true;
break;
}
}
// 하나의 occlusion 에라도 가려져있으면 더이상 볼필요없다.
if(!bVisible)
return false;
}
return true;
}
