Plane3D Class Reference

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

Inherits object.

Public Member Functions
cvb.AffineMatrix3D	align_to_xy_plane (self)
	Calculates a rigid body transformation that maps the plane into the xy plane of the global coordinate system. More...
float	distance_to_point (self, cvb.Point3D pt)
	Calculates the distance to the point pt. More...
float	distance_to_point (self, float x, float y, float z)
	Calculates the distance to the point pt. More...

Properties
	distance_to_origin = property
	float: Gets or sets the distance to the origin in point units.
	normal = property
	cvb.Point3D: Gets or sets the normal vector of the plane.

Detailed Description

A plane in 3D space in Hessian normal form.

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

Parameters

nx : float Normal vector x component.

ny : float Normal vector y component.

nz : float Normal vector z component.

distance_to_origin : float Distance to origin in point units.

Member Function Documentation

align_to_xy_plane()

cvb.AffineMatrix3D align_to_xy_plane

(

self

)

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

cvb.AffineMatrix3D Calculated transformation to move the plane to xy plane.

distance_to_point() [1/2]

float distance_to_point	(		self,
		cvb.Point3D	pt
	)

Calculates the distance to the point pt.

Parameters

pt : cvb.Point3D Point to calculate the distance to.

Returns

float The distance to the specified point.

distance_to_point() [2/2]

float distance_to_point	(		self,
		float	x,
		float	y,
		float	z
	)

Calculates the distance to the point pt.

Parameters

x : float Point x component.

y : float Point y component.

z : float Point z component.

Returns

float The distance to the specified point.