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double focalDistance = -418.5;
Vector3d p1(0,0,focalDistance);
Vector3d p2(1,0,focalDistance);
Vector3d p3(0,1,focalDistance);

// Here is my plane, it passes through 3 points
Hyperplane<double,3> focalPlane = Hyperplane<double,3>::Through( p1,p2,p3 );

// Now I want to define a line through 2 points
Hyperplane<double,3> line = Hyperplane<double,3>::Through( p1,p2 );

// but now the intersection method gives me strange asserts:
Vector3d intersectionPoint = focalPlane.intersection( line );


In file included from ../eigen/Eigen/Geometry:47,
from test.cpp:34:
../eigen/Eigen/src/Geometry/Hyperplane.h: In member function ‘Eigen::Matrix<_Scalar, AmbientDimAtCompileTime, 1, ((Eigen::._90)0u | (((AmbientDimAtCompileTime == 1) && (1 != 1)) ? (Eigen::._90)1u : (((1 == 1) && (AmbientDimAtCompileTime != 1)) ? (Eigen::._90)0u : (Eigen::._90)0u))), AmbientDimAtCompileTime, 1> Eigen::Hyperplane<_Scalar, _AmbientDim, Options>::intersection(const Eigen::Hyperplane<_Scalar, _AmbientDim, Options>&) [with _Scalar = double, int _AmbientDim = 3, int _Options = 0]’:
test.cpp:377: instantiated from here
../eigen/Eigen/src/Geometry/Hyperplane.h:194: error: ‘THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE’ is not a member of ‘Eigen::internal::static_assertion<false>’
make: *** [test.o] Error 1

Code: Select all

Vector3d n1(0,0,0);
Vector3d n2(0,1,1);

// I initialize the line with two points passing through it
ParametrizedLine<double,3> pline = ParametrizedLine<double,3>::Through(n1,n2);


// So if I'm correct this is the t at which pline intersect the last plane "focalPlane"   
double intersection = pline.intersection( focalPlane ) ;

// Now, how to compute the coordinates of such intersection? I think this is the correct way...

cerr << intersection*((n2-n1).normalized()) + n1  << endl;