#include <visp3/core/vpPlane.h>

Public Types
enum	vpPlaneFrame { object_frame , camera_frame }

Public Member Functions
	vpPlane ()

	vpPlane (const vpPlane &P)

	vpPlane (double A, double B, double C, double D)

	vpPlane (const vpPoint &P, const vpColVector &n, vpPlaneFrame frame=camera_frame)

	vpPlane (const vpPoint &P, const vpPoint &Q, const vpPoint &R, vpPlaneFrame frame=camera_frame)

double	computeZ (double x, double y) const

void	init (const vpPoint &P, const vpPoint &Q, const vpPoint &R, vpPlaneFrame frame=camera_frame)

void	init (const vpColVector &P, const vpColVector &n)

void	init (const vpPlane &P)

void	setA (double a)

void	setB (double b)

void	setC (double c)

void	setD (double d)

void	setABCD (double a, double b, double c, double d)

vpPlane &	operator= (const vpPlane &f)

double	getA () const

double	getB () const

double	getC () const

double	getD () const

vpColVector	getABCD () const

vpColVector	abcd () const

vpColVector	getNormal () const

void	getNormal (vpColVector &n) const

void	projectionPointOnPlan (const vpPoint &P, vpPoint &Pproj) const

double	rayIntersection (const vpPoint &M0, const vpPoint &M1, vpColVector &H) const

double	getIntersection (const vpColVector &M1, vpColVector &H) const

void	changeFrame (const vpHomogeneousMatrix &cMo)

Public Attributes
double	A

double	B

double	C

double	D

Friends
VISP_EXPORT std::ostream &	operator<< (std::ostream &os, vpPlane &p)

Detailed Description

This class defines the container for a plane geometrical structure.

A plane is given by the equation $Ax + By + Cz + D = 0$ where (x,y,z) are the coordinates of a point and where $[A,B,C]^T$ is a normal vector of the plane.

Examples: homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyHartleyDLT2DObject.cpp, homographyRansac2DObject.cpp, manServoMomentsSimple.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, and testDisplacement.cpp.

Definition at line 53 of file vpPlane.h.

Member Enumeration Documentation

◆ vpPlaneFrame

enum vpPlane::vpPlaneFrame

Enumerator
object_frame
camera_frame

Definition at line 65 of file vpPlane.h.

Constructor & Destructor Documentation

◆ vpPlane() [1/5]

vpPlane::vpPlane ( )

Basic constructor that set the plane parameters A, B, C, D to zero.

Definition at line 62 of file vpPlane.cpp.

◆ vpPlane() [2/5]

vpPlane::vpPlane ( const vpPlane & P )

Copy constructor.

Definition at line 79 of file vpPlane.cpp.

References getA(), getB(), getC(), getD(), setA(), setB(), setC(), and setD().

◆ vpPlane() [3/5]

vpPlane::vpPlane	(	double	a,
		double	b,
		double	c,
		double	d
	)

Plane constructor from A, B, C, D parameters.

A plane is given by the equation $Ax + By + Cz + D = 0$ where (x,y,z) are the coordinates of a point and $[A,B,C]^T$ is the normal vector of the plane.

Parameters

a,b,c,d : Parameters of the plane.

Definition at line 74 of file vpPlane.cpp.

◆ vpPlane() [4/5]

vpPlane::vpPlane	(	const vpPoint &	P,
		const vpColVector &	n,
		vpPlaneFrame	frame = `camera_frame`
	)

Plane constructor from a point P on the plane and the normal n to the plane.

A plane is given by the equation $Ax + By + Cz + D = 0$ where (x,y,z) are the coordinates of a point and $[A,B,C]^T$ is the normal vector of the plane.

Parameters

P	: A point with coordinates (x,y,z) on the plane. The frame parameter indicates if the coordinates of this points that are used are expressed in the camera of object frame.
n	: The normal to the plane.
frame	Indicates if the plane should be initialized from the point P coordinates expressed in the camera or object frame.

Definition at line 106 of file vpPlane.cpp.

References A, B, C, camera_frame, D, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPoint::get_X(), vpPoint::get_Y(), and vpPoint::get_Z().

◆ vpPlane() [5/5]

vpPlane::vpPlane	(	const vpPoint &	P,
		const vpPoint &	Q,
		const vpPoint &	R,
		vpPlaneFrame	frame = `camera_frame`
	)

Compute the equation of a plane given three point P, Q, R.

The normal to the plane is given by: n = PQ x PR

Parameters

P,Q,R	Three points on the plane.
frame	Indicates if the plane should be initialized from the points coordinates expressed in the camera or object frame.

See also: init(const vpPoint &, const vpPoint &, const vpPoint &)

Definition at line 226 of file vpPlane.cpp.

References init().

Member Function Documentation

◆ abcd()

vpColVector vpPlane::abcd ( ) const

inline

Warning: This method is provided for compatibility with the previous versions. Users should now use getABCD().

Returns: Return the four dimension vector corresponding to the plane parameters.

See also: getABCD()

Definition at line 134 of file vpPlane.h.

◆ changeFrame()

void vpPlane::changeFrame ( const vpHomogeneousMatrix & cMo )

Considering the plane in the Ro frame computes the equation of the plane in the Rc frame.

Parameters

cMo	: Homogeneous transformation from Rc to Ro frames.

Examples: manServoMomentsSimple.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, and servoMomentPolygon.cpp.

Definition at line 372 of file vpPlane.cpp.

References A, B, C, and D.

Referenced by vpMbtFaceDepthNormal::computeInteractionMatrix(), vpMbtFaceDepthDense::computeInteractionMatrixAndResidu(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::estimateFeatures(), vpMbtFaceDepthNormal::estimatePlaneEquationSVD(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), and vpMbKltTracker::setPose().

◆ computeZ()

double vpPlane::computeZ	(	double	x,
		double	y
	)		const

Compute Z value of a 3D point located on the plane from its perspective projection coordinates.

Parameters

[in] x,y : Coordinates of a point in the image plane. These coordinates are the one obtained by perspective projection of a 3D point.

Returns: Z coordinate in [m] of the corresponding 3D point.

Definition at line 236 of file vpPlane.cpp.

References getA(), getB(), getC(), and getD().

Referenced by vpPose::computePlanarObjectPoseFromRGBD().

◆ getA()

double vpPlane::getA ( ) const

inline

Returns: The value of the plane parameter A.

Examples: manServoMomentsSimple.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, and servoMomentPolygon.cpp.

Definition at line 100 of file vpPlane.h.

Referenced by vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpMbtDistanceCircle::buildFrom(), vpKeyPoint::compute3D(), vpMbtFaceDepthNormal::computeInteractionMatrix(), vpMbtFaceDepthDense::computeInteractionMatrixAndResidu(), computeZ(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::estimateFeatures(), vpMbtFaceDepthNormal::estimatePlaneEquationSVD(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), init(), rayIntersection(), and vpPlane().

◆ getABCD()

vpColVector vpPlane::getABCD ( ) const

inline

Returns: Return the four dimension vector corresponding to the plane parameters.

Definition at line 114 of file vpPlane.h.

◆ getB()

double vpPlane::getB ( ) const

inline

Returns: The value of the plane parameter B.

Examples: manServoMomentsSimple.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, and servoMomentPolygon.cpp.

Definition at line 102 of file vpPlane.h.

Referenced by vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpMbtDistanceCircle::buildFrom(), vpKeyPoint::compute3D(), vpMbtFaceDepthNormal::computeInteractionMatrix(), vpMbtFaceDepthDense::computeInteractionMatrixAndResidu(), computeZ(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::estimateFeatures(), vpMbtFaceDepthNormal::estimatePlaneEquationSVD(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), init(), rayIntersection(), and vpPlane().

◆ getC()

double vpPlane::getC ( ) const

inline

Returns: The value of the plane parameter C.

Examples: manServoMomentsSimple.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, and servoMomentPolygon.cpp.

Definition at line 104 of file vpPlane.h.

Referenced by vpMbTracker::addPolygon(), vpMbTracker::addProjectionErrorPolygon(), vpMbtDistanceCircle::buildFrom(), vpKeyPoint::compute3D(), vpMbtFaceDepthNormal::computeInteractionMatrix(), vpMbtFaceDepthDense::computeInteractionMatrixAndResidu(), computeZ(), vpMbtFaceDepthNormal::displayFeature(), vpMbtFaceDepthNormal::estimateFeatures(), vpMbtFaceDepthNormal::estimatePlaneEquationSVD(), vpMbtFaceDepthNormal::getFeaturesForDisplay(), init(), rayIntersection(), and vpPlane().

◆ getD()

double vpPlane::getD ( ) const

inline

Returns: The value of the plane parameter D.

Examples: manServoMomentsSimple.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, and servoMomentPolygon.cpp.

Definition at line 106 of file vpPlane.h.

Referenced by vpKeyPoint::compute3D(), vpMbtFaceDepthNormal::computeInteractionMatrix(), vpMbtFaceDepthDense::computeInteractionMatrixAndResidu(), computeZ(), vpMbtFaceDepthNormal::estimateFeatures(), vpMbtFaceDepthNormal::estimatePlaneEquationSVD(), getIntersection(), vpMbtDistanceKltPoints::init(), init(), rayIntersection(), vpMbKltTracker::setPose(), and vpPlane().

◆ getIntersection()

double vpPlane::getIntersection	(	const vpColVector &	M1,
		vpColVector &	H
	)		const

Definition at line 344 of file vpPlane.cpp.

References A, B, C, and getD().

◆ getNormal() [1/2]

vpColVector vpPlane::getNormal ( ) const

Return the normal to the plane.

A plane is given by the equation $Ax + By + Cz + D = 0$ where (x,y,z) is a point of R^3 and (A,B,C) are the coordinates of the normal.

See also: getNormal(vpColVector &n)

Definition at line 249 of file vpPlane.cpp.

References A, B, and C.

Referenced by vpMbtDistanceKltPoints::init(), and vpMbKltTracker::setPose().

◆ getNormal() [2/2]

void vpPlane::getNormal ( vpColVector & n ) const

Return the normal to the plane.

A plane is given by the equation $Ax + By + Cz + D = 0$ where (x,y,z) are the coordinates of a point and $[A,B,C]^T$ is normal vector of the plane.

See also: getNormal()

Definition at line 269 of file vpPlane.cpp.

References A, B, C, and vpColVector::resize().

◆ init() [1/3]

void vpPlane::init	(	const vpColVector &	P,
		const vpColVector &	n
	)

Initialize the plane from a point P on the plane and the normal n to the plane.

Parameters

P	: A point with coordinates (x,y,z) on the plane. The size of the vector should be 3, with P[0]=x, with P[1]=y, with P[2]=z.
n	: The normal to the plane.

See also: vpPlane(const vpPoint&, const vpColVector &)

Definition at line 145 of file vpPlane.cpp.

References A, B, C, and D.

◆ init() [2/3]

void vpPlane::init ( const vpPlane & P )

Initialize the plane with the parameters of an other plane P.

Parameters

P	: Plane used as initializer.

Definition at line 126 of file vpPlane.cpp.

References getA(), getB(), getC(), getD(), setA(), setB(), setC(), and setD().

◆ init() [3/3]

void vpPlane::init	(	const vpPoint &	P,
		const vpPoint &	Q,
		const vpPoint &	R,
		vpPlaneFrame	frame = `camera_frame`
	)

Compute the equation of a plane given three point P, Q, R.

The normal to the plane is given by: n = PQ x PR

Parameters

P,Q,R	Three points on the plane.
frame	Indicates if the plane should be initialized from the points coordinates expressed in the camera or object frame.

Definition at line 166 of file vpPlane.cpp.

References A, B, C, camera_frame, vpColVector::cross(), D, vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), vpPoint::get_X(), vpPoint::get_Y(), and vpPoint::get_Z().

Referenced by vpPlane().

◆ operator=()

vpPlane & vpPlane::operator= ( const vpPlane & p )

Copy operator.

Definition at line 49 of file vpPlane.cpp.

References A, B, C, and D.

◆ projectionPointOnPlan()

void vpPlane::projectionPointOnPlan	(	const vpPoint &	P,
		vpPoint &	Pproj
	)		const

Compute the coordinates of the projection of a point on the plane.

Parameters

P	: point to be projected on the plane
Pproj	: result of the projection (pproj belongs to the plane)

Definition at line 283 of file vpPlane.cpp.

References A, B, C, D, vpPoint::get_W(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpPoint::set_W(), vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().

◆ rayIntersection()

double vpPlane::rayIntersection	(	const vpPoint &	M0,
		const vpPoint &	M1,
		vpColVector &	H
	)		const

Definition at line 300 of file vpPlane.cpp.

References vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), getA(), getB(), getC(), and getD().

◆ setA()

void vpPlane::setA ( double a )

inline

Set plane parameter A.

Definition at line 80 of file vpPlane.h.

Referenced by init(), and vpPlane().

◆ setABCD()

void vpPlane::setABCD	(	double	a,
		double	b,
		double	c,
		double	d
	)

inline

Set plane parameters A, B, C, D.

Examples: manServoMomentsSimple.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, and servoMomentPolygon.cpp.

Definition at line 88 of file vpPlane.h.

◆ setB()

void vpPlane::setB ( double b )

inline

Set plane parameter B.

Definition at line 82 of file vpPlane.h.

Referenced by init(), and vpPlane().

◆ setC()

void vpPlane::setC ( double c )

inline

Set plane parameter C.

Definition at line 84 of file vpPlane.h.

Referenced by init(), and vpPlane().

◆ setD()

void vpPlane::setD ( double d )

inline

Set plane parameter D.

Definition at line 86 of file vpPlane.h.

Referenced by init(), and vpPlane().

Friends And Related Function Documentation

◆ operator<<

VISP_EXPORT std::ostream& operator<<	(	std::ostream &	os,
		vpPlane &	p
	)

friend

Print the plane parameters as a stream like "(A,B,C,D) " where A,B,C and D correspond to the parameters of the plane.

Definition at line 388 of file vpPlane.cpp.

Member Data Documentation

◆ A

double vpPlane::A

Definition at line 62 of file vpPlane.h.

Referenced by changeFrame(), getIntersection(), getNormal(), init(), operator=(), projectionPointOnPlan(), and vpPlane().

◆ B

double vpPlane::B

Definition at line 62 of file vpPlane.h.

Referenced by changeFrame(), getIntersection(), getNormal(), init(), operator=(), projectionPointOnPlan(), and vpPlane().

◆ C

double vpPlane::C

Definition at line 62 of file vpPlane.h.

Referenced by changeFrame(), getIntersection(), getNormal(), init(), operator=(), projectionPointOnPlan(), and vpPlane().

◆ D

double vpPlane::D

Definition at line 62 of file vpPlane.h.

Referenced by changeFrame(), init(), operator=(), projectionPointOnPlan(), and vpPlane().

Public Types

Public Member Functions

Public Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ vpPlaneFrame

Constructor & Destructor Documentation

◆ vpPlane() [1/5]

◆ vpPlane() [2/5]

◆ vpPlane() [3/5]

◆ vpPlane() [4/5]

◆ vpPlane() [5/5]

Member Function Documentation

◆ abcd()

◆ changeFrame()

◆ computeZ()

◆ getA()

◆ getABCD()

◆ getB()

◆ getC()

◆ getD()

◆ getIntersection()

◆ getNormal() [1/2]

◆ getNormal() [2/2]

◆ init() [1/3]

◆ init() [2/3]

◆ init() [3/3]

◆ operator=()

◆ projectionPointOnPlan()

◆ rayIntersection()

◆ setA()

◆ setABCD()

◆ setB()

◆ setC()

◆ setD()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ A

◆ B

◆ C

◆ D