Plane3D Class Reference

A plane in 3D space in Hessian normal form. More...

#include <cvb/plane_3d.hpp>

Public Member Functions
	Plane3D () noexcept=default
	Creates a default plane at (0, 0, 0, 0). More...
	Plane3D (double nx, double ny, double nz, double distanceToOrigin) noexcept
	Creates a new Plane3D object from the given normal vector components and the distanceToOrigin. More...
	Plane3D (Point3D< double > normal, double distanceToOrigin) noexcept
	Creates a new Plane3D object. More...
Point3D< double >	Normal () const noexcept
	Gets the normal vector of the plane. More...
void	SetNormal (Point3D< double > normal) noexcept
	Sets the normal vector of the plane. More...
double	DistanceToOrigin () const noexcept
	Gets the distance to the origin in point units. More...
void	SetDistanceToOrigin (double distanceToOrigin) noexcept
	Sets the distance to the origin in point units. More...
double	DistanceToPoint (const Point3D< double > &pt) const noexcept
	Calculates the distance to the point pt. More...
double	DistanceToPoint (double x, double y, double z) const noexcept
	Calculates the distance to the point pt. More...
AffineMatrix3D	AlignToXYPlane ()
	Calculates a rigid body transformation that maps the plane into the xy plane of the global coordinate system. More...

Detailed Description

A plane in 3D space in Hessian normal form.

Examples

Cvb/CppPointCloudCreateCalibrated.

Constructor & Destructor Documentation

Plane3D() [1/3]

Plane3D ( )

defaultnoexcept

Creates a default plane at (0, 0, 0, 0).

Exceptions

Does	not throw any exception.

Plane3D() [2/3]

Plane3D ( double  nx, double  ny, double  nz, double  distanceToOrigin  )

inlinenoexcept

Creates a new Plane3D object from the given normal vector components and the distanceToOrigin.

Parameters

[in]	nx	Normal vector x component.
[in]	ny	Normal vector y component.
[in]	nz	Normal vector z component.
[in]	distanceToOrigin	Distance to origin in point units.

Exceptions

Does	not throw any exception.

Plane3D() [3/3]

Plane3D ( Point3D< double >  normal, double  distanceToOrigin  )

inlinenoexcept

Creates a new Plane3D object.

Parameters

[in]	normal	Three dimensional point.
[in]	distanceToOrigin	Distance to origin in point units.

Exceptions

Does	not throw any exception.

Member Function Documentation

AlignToXYPlane()

AffineMatrix3D AlignToXYPlane ( )

inline

Calculates a rigid body transformation that maps the plane into the xy plane of the global coordinate system.

If a point cloud contains a tilted plane (e.g. representing a conveyer belt), which is not aligned to the xy plane, the following steps should be taken:

1. Calulate a plane fit on the data using function FitPlane.
2. Align the output plane to the xy plane with AlignToXYPlane.

Please note the following:

• The transformation includes only a rotation about x and y axis. The resulting transformation will not contain any rotation about the global Z-axis.

• The translation to the origin of the global coordinate system is done along z axis.

  Returns

  Calculated transformation to move the plane to xy plane.

  Exceptions

  Any	exception derived from std::exception including CvbException.

DistanceToOrigin()

double DistanceToOrigin ( ) const

inlinenoexcept

Gets the distance to the origin in point units.

Returns

distance to the origin in point units.

Exceptions

Does	not throw any exception.

DistanceToPoint() [1/2]

double DistanceToPoint ( const Point3D< double > &  pt ) const

inlinenoexcept

Calculates the distance to the point pt.

Parameters

[in]

pt

Point to calculate the distance to.

Returns

Distance of point pt to this plane.

Exceptions

Does	not throw any exception.

DistanceToPoint() [2/2]

double DistanceToPoint ( double  x, double  y, double  z  ) const

inlinenoexcept

Calculates the distance to the point pt.

Parameters

[in]	x	Point x component.
[in]	y	Point y component.
[in]	z	Point z component.

Returns

Distance of point pt to this plane.

Exceptions

Does	not throw any exception.

Normal()

Point3D< double > Normal ( ) const

inlinenoexcept

Gets the normal vector of the plane.

Returns

normal vector.

Exceptions

Does	not throw any exception.

SetDistanceToOrigin()

void SetDistanceToOrigin ( double  distanceToOrigin )

inlinenoexcept

Sets the distance to the origin in point units.

Parameters

[in]

distanceToOrigin

to the origin in point units.

Exceptions

Does	not throw any exception.

SetNormal()

void SetNormal ( Point3D< double >  normal )

inlinenoexcept

Sets the normal vector of the plane.

Parameters

[in]

normal

vector.

Exceptions

Does	not throw any exception.