Plane Struct Reference

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

Public Member Functions
	Plane (double nx, double ny, double nz, double distanceToOrigin)
	Creates a new Plane object from the given normal vector components and the distanceToOrigin . More...
	Plane (Point3Dd normal, double distanceToOrigin)
	Creates a new Plane object. More...
double	DistanceToPoint (Point3Df pt)
	Calculates the distance to the point pt . More...
double	DistanceToPoint (Point3Dd pt)
	Calculates the distance to the point pt . More...
double	DistanceToPoint (double x, double y, double z)
	Calculates the distance to the point given by its components. More...
AffineMatrix3D	AlignToXYPlane ()
	Calculates a rigid body transformation that maps the plane into the xy plane of the global coordinate system. More...

Properties
Point3Dd	Normal [get, set]
	The normal vector of the plane.
double	DistanceToOrigin [get, set]
	Distance to the origin in point units.

Detailed Description

A plane in 3D space in Hessian normal form.

Constructor & Destructor Documentation

Plane() [1/2]

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

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

Parameters

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

Plane() [2/2]

Plane	(	Point3Dd	normal,
		double	distanceToOrigin
	)

Creates a new Plane object.

Parameters

normal	Normal vector.
distanceToOrigin	Distance to origin in point units.

Member Function Documentation

AlignToXYPlane()

AffineMatrix3D AlignToXYPlane

(

)

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.

DistanceToPoint() [1/3]

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

Calculates the distance to the point given by its components.

Parameters

x	Point x component.
y	Point y component.
z	Point z component.

Returns

Distance to this plane.

DistanceToPoint() [2/3]

double DistanceToPoint

(

Point3Dd

pt

)

Calculates the distance to the point pt .

Parameters

pt	Point to calculate the distance to.

Returns

Distance of point pt to this plane.

DistanceToPoint() [3/3]

double DistanceToPoint

(

Point3Df

pt

)

Calculates the distance to the point pt .

Parameters

pt	Point to calculate the distance to.

Returns

Distance of point pt to this plane.