Is it permissible to pick fruit from an orchard without the owner's permission and take it home or eat it, and is that considered theft?

Scholars differed concerning the permissibility of eating from the fruits of an orchard for a passerby without the owner's permission. Some permitted it, while the majority forbade it for those who are not in need. As for the needy, it is permissible for them. It is also permissible to eat from an orchard after the eater calls out to its owner three times; if he does not respond, then he may eat. However, he is not permitted to carry anything away with him; if he does so, he is sinful and liable. It is stipulated that the orchard must be without a fence; as for one that has a fence, it is not permissible to enter it or eat from it except with the owner's permission.