Plane Class Reference

Class representing a plane defined by a point and a normal, or a plane equation. More...

Functions
	Plane ()
	Default constructor. More...
	~Plane ()
	Default destructor. More...
void	clear ()
	Clears all the data. More...
sl::float3	getNormal ()
	Gets the plane normal vector. More...
sl::float3	getCenter ()
	Gets the plane center point. More...
Transform	getPose ()
	Gets the plane pose relative to the global reference frame. More...
sl::float2	getExtents ()
	Gets the width and height of the bounding rectangle around the plane contours. More...
sl::float4	getPlaneEquation ()
	Gets the plane equation. More...
std::vector< sl::float3 >	getBounds ()
	Gets the polygon bounds of the plane. More...
sl::Mesh	extractMesh ()
	Compute and return the mesh of the bounds polygon. More...
float	getClosestDistance (sl::float3 point=sl::float3(0, 0, 0))
	Gets the distance between the input point and the projected point alongside the normal vector onto the plane (the closest point on the plane). More...

Attributes
PLANE_TYPE	type = PLANE_TYPE::UNKNOWN
	Type of the plane defined by its orientation. More...

Detailed Description

Class representing a plane defined by a point and a normal, or a plane equation.

Other elements can be extracted such as the mesh, the 3D bounds, etc.

Note

The plane measurements are expressed in reference defined by sl::RuntimeParameters.measure3D_reference_frame.

Constructor and Destructor

Plane()

Plane

(

)

Default constructor.

~Plane()

~Plane

(

)

Default destructor.

Functions

clear()

void clear

(

)

Clears all the data.

getNormal()

sl::float3 getNormal

(

)

Gets the plane normal vector.

Returns

sl::Plane normalized normal vector.

getCenter()

sl::float3 getCenter

(

)

Gets the plane center point.

Returns

sl::Plane center point.

getPose()

Transform getPose

(

)

Gets the plane pose relative to the global reference frame.

Returns

Transformation matrix (rotation and translation) of the plane pose.

Note

Can be used to transform the global reference frame center (0, 0, 0) to the plane center.

getExtents()

sl::float2 getExtents

(

)

Gets the width and height of the bounding rectangle around the plane contours.

Returns

Width and height of the bounding plane contours.

Warning

This value is expressed in the plane reference frame.

getPlaneEquation()

sl::float4 getPlaneEquation

(

)

Gets the plane equation.

Returns

Plane equation coefficients {a, b, c, d}.

Note

The plane equation has the following form: ax + by + cz = d.

getBounds()

std::vector<sl::float3> getBounds

(

)

Gets the polygon bounds of the plane.

Returns

Vector of 3D points forming a polygon bounds corresponding to the current visible limits of the plane.

extractMesh()

sl::Mesh extractMesh

(

)

Compute and return the mesh of the bounds polygon.

Returns

sl::Mesh representing the plane delimited by the visible bounds.

getClosestDistance()

float getClosestDistance

(

sl::float3

point = sl::float3(0, 0, 0)

)

Gets the distance between the input point and the projected point alongside the normal vector onto the plane (the closest point on the plane).

Parameters

point

: Point to project into the plane.

Returns

The Euclidean distance between the input point and the projected point.

Variables

type

PLANE_TYPE type = PLANE_TYPE::UNKNOWN

Type of the plane defined by its orientation.

Note

It is deduced from the gravity vector and is therefore not available with on sl::MODEL::ZED.

sl::MODEL::ZED will give sl::PLANE_TYPE::UNKNOWN for every planes.