Plane Class Reference

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... More...

General Functions
	Plane ()
	~Plane ()
void	clear ()
sl::float3	getNormal ()
	Get the plane normal vector. More...
sl::float3	getCenter ()
	Get the plane center point. More...
Transform	getPose ()
	Get the plane pose relative to the global reference frame. More...
sl::float2	getExtents ()
	Get the width and height of the bounding rectangle around the plane contours. More...
sl::float4	getPlaneEquation ()
	Get the plane equation. More...
std::vector< sl::float3 >	getBounds ()
	Get 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))
	Get the distance between the input point and the projected point alongside the normal vector onto the plane. This corresponds to the closest point on the plane. More...

Attributes
PLANE_TYPE	type = PLANE_TYPE_UNKNOWN

Detailed Description

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...

Note

The plane measurement are expressed in REFERENCE_FRAME defined by the RuntimeParameters measure3D_reference_frame

Constructor and Destructor

Plane()

Plane

(

)

~Plane()

~Plane

(

)

Functions

clear()

void clear

(

)

getNormal()

sl::float3 getNormal

(

)

Get the plane normal vector.

Returns

Plane normal vector, with normalized components

getCenter()

sl::float3 getCenter

(

)

Get the plane center point.

Returns

Plane center point

getPose()

Transform getPose

(

)

Get the plane pose relative to the global reference frame.

Returns

A transformation matrix (rotation and translation) which give the plane pose. Can be used to transform the global reference frame center (0,0,0) to the plane center

getExtents()

sl::float2 getExtents

(

)

Get 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

(

)

Get the plane equation.

Returns

Plane equation, in the form : ax+by+cz=d, the returned values are (a,b,c,d)

getBounds()

std::vector<sl::float3> getBounds

(

)

Get 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

A mesh representing the plane delimited by the visible bounds

getClosestDistance()

float getClosestDistance

(

sl::float3

point = sl::float3(0, 0, 0)

)

Get the distance between the input point and the projected point alongside the normal vector onto the plane. This corresponds to the closest point on the plane.

Parameters

The	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

The plane type define the plane orientation : vertical or horizontal.

Note

It is deduced from the gravity vector and is therefore only available with the ZED-M. The ZED will give PLANE_TYPE_UNKNOWN for every planes.