#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)

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

Definition at line 58 of file vpPlane.h.

Member Enumeration Documentation

◆ vpPlaneFrame

enum vpPlane::vpPlaneFrame

Enumerator
object_frame
camera_frame

Definition at line 70 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 66 of file vpPlane.cpp.

◆ vpPlane() [2/5]

vpPlane::vpPlane ( const vpPlane & P )

Copy constructor.

Definition at line 83 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 78 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 110 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 225 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 136 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 354 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().

◆ 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 102 of file vpPlane.h.

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

◆ getABCD()

vpColVector vpPlane::getABCD ( ) const

inline

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

Definition at line 116 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 104 of file vpPlane.h.

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

◆ 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 106 of file vpPlane.h.

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

◆ 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 108 of file vpPlane.h.

Referenced by vpKeyPoint::compute3D(), vpMbtFaceDepthNormal::computeInteractionMatrix(), vpMbtFaceDepthDense::computeInteractionMatrixAndResidu(), vpMbtFaceDepthNormal::estimateFeatures(), vpMbtFaceDepthNormal::estimatePlaneEquationSVD(), getIntersection(), init(), vpHomography::load(), rayIntersection(), vpMbKltTracker::setPose(), vpPlane(), and vpMbtDistanceLine::~vpMbtDistanceLine().

◆ getIntersection()

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

Definition at line 328 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 238 of file vpPlane.cpp.

References A, B, and C.

Referenced by vpHomography::load(), 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 258 of file vpPlane.cpp.

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

◆ init() [1/3]

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 168 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().

◆ init() [2/3]

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 147 of file vpPlane.cpp.

References A, B, C, and D.

◆ init() [3/3]

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 128 of file vpPlane.cpp.

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

◆ operator=()

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

Copy operator.

Definition at line 53 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 272 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 289 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 82 of file vpPlane.h.

Referenced by init(), vpPlane(), and vpMbtDistanceLine::~vpMbtDistanceLine().

◆ 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 90 of file vpPlane.h.

◆ setB()

void vpPlane::setB ( double b )

inline

Set plane parameter B.

Definition at line 84 of file vpPlane.h.

Referenced by init(), vpPlane(), and vpMbtDistanceLine::~vpMbtDistanceLine().

◆ setC()

void vpPlane::setC ( double c )

inline

Set plane parameter C.

Definition at line 86 of file vpPlane.h.

Referenced by init(), vpPlane(), and vpMbtDistanceLine::~vpMbtDistanceLine().

◆ setD()

void vpPlane::setD ( double d )

inline

Set plane parameter D.

Definition at line 88 of file vpPlane.h.

Referenced by init(), vpPlane(), and vpMbtDistanceLine::~vpMbtDistanceLine().

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 370 of file vpPlane.cpp.

Member Data Documentation

◆ A

double vpPlane::A

Definition at line 67 of file vpPlane.h.

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

◆ B

double vpPlane::B

Definition at line 67 of file vpPlane.h.

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

◆ C

double vpPlane::C

Definition at line 67 of file vpPlane.h.

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

◆ D

double vpPlane::D

Definition at line 67 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()

◆ 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