Plane¶

class Plane(*args, **kwargs)¶

Bases: pybind11_object

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.

Overloaded function.

__init__(self: visp._visp.core.Plane) -> None

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

__init__(self: visp._visp.core.Plane, P: visp._visp.core.Plane) -> None

Copy constructor.

__init__(self: visp._visp.core.Plane, A: float, B: float, C: float, D: float) -> None

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.

__init__(self: visp._visp.core.Plane, P: visp._visp.core.Point, n: visp._visp.core.ColVector, frame: visp._visp.core.Plane.PlaneFrame) -> None

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.

__init__(self: visp._visp.core.Plane, P: visp._visp.core.Point, Q: visp._visp.core.Point, R: visp._visp.core.Point, frame: visp._visp.core.Plane.PlaneFrame) -> None

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

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

Note

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

Parameters:

P: Three points on the plane.
Q: Three points on the plane.
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.

Methods

`__init__`	Overloaded function.
`abcd`	Note See getABCD()
`changeFrame`	Considering the plane in the Ro frame computes the equation of the plane in the Rc frame.
`computeZ`	param x: Coordinates of a point in the image plane. These coordinates are the one obtained by perspective projection of a 3D point.
`getA`	return: The value of the plane parameter A.
`getABCD`	return: Return the four dimension vector \([A,B,C,D]^T\) corresponding to the plane parameters.
`getB`	return: The value of the plane parameter B.
`getC`	return: The value of the plane parameter C.
`getD`	return: The value of the plane parameter D.
`getIntersection`
`getNormal`	Overloaded function.
`init`	Overloaded function.
`projectionPointOnPlan`	Compute the coordinates of the projection of a point on the plane.
`rayIntersection`
`setA`	Set plane parameter A.
`setABCD`	Set plane parameters A, B, C, D.
`setB`	Set plane parameter B.
`setC`	Set plane parameter C.
`setD`	Set plane parameter D.

Inherited Methods

Operators

`__doc__`
`__init__`	Overloaded function.
`__module__`
`__repr__`

Attributes

`__annotations__`
`camera_frame`
`object_frame`

class PlaneFrame(self, value: int)¶

Bases: pybind11_object

Values:

object_frame
camera_frame

__and__(self, other: object) → object¶

__eq__(self, other: object) → bool¶

__ge__(self, other: object) → bool¶

__getstate__(self) → int¶

__gt__(self, other: object) → bool¶

__hash__(self) → int¶

__index__(self) → int¶

__init__(self, value: int)¶

__int__(self) → int¶

__invert__(self) → object¶

__le__(self, other: object) → bool¶

__lt__(self, other: object) → bool¶

__ne__(self, other: object) → bool¶

__or__(self, other: object) → object¶

__rand__(self, other: object) → object¶

__ror__(self, other: object) → object¶

__rxor__(self, other: object) → object¶

__setstate__(self, state: int) → None¶

__xor__(self, other: object) → object¶

property name : str¶

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: visp._visp.core.Plane) -> None

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

__init__(self: visp._visp.core.Plane, P: visp._visp.core.Plane) -> None

Copy constructor.

__init__(self: visp._visp.core.Plane, A: float, B: float, C: float, D: float) -> None

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.

__init__(self: visp._visp.core.Plane, P: visp._visp.core.Point, n: visp._visp.core.ColVector, frame: visp._visp.core.Plane.PlaneFrame) -> None

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.

__init__(self: visp._visp.core.Plane, P: visp._visp.core.Point, Q: visp._visp.core.Point, R: visp._visp.core.Point, frame: visp._visp.core.Plane.PlaneFrame) -> None

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

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

Note

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

Parameters:

P: Three points on the plane.
Q: Three points on the plane.
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.

abcd(self) → visp._visp.core.ColVector¶

Note

See getABCD()

Returns:: Return the four dimension vector \([A,B,C,D]^T\) corresponding to the plane parameters.

changeFrame(self, cMo: visp._visp.core.HomogeneousMatrix) → None¶

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

Parameters:

cMo: visp._visp.core.HomogeneousMatrix¶: Homogeneous transformation from Rc to Ro frames.

computeZ(self, x: float, y: float) → float¶

Parameters:

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

getA(self) → float¶

Returns:: The value of the plane parameter A.

getABCD(self) → visp._visp.core.ColVector¶

Returns:: Return the four dimension vector \([A,B,C,D]^T\) corresponding to the plane parameters.

getB(self) → float¶

Returns:: The value of the plane parameter B.

getC(self) → float¶

Returns:: The value of the plane parameter C.

getD(self) → float¶

Returns:: The value of the plane parameter D.

getIntersection(self, M1: visp._visp.core.ColVector, H: visp._visp.core.ColVector) → float¶

getNormal(*args, **kwargs)¶

Overloaded function.

getNormal(self: visp._visp.core.Plane) -> visp._visp.core.ColVector

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.

Note

See getNormal(vpColVector &n)

getNormal(self: visp._visp.core.Plane, n: visp._visp.core.ColVector) -> None

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.

Note

See getNormal()

init(*args, **kwargs)¶

Overloaded function.

init(self: visp._visp.core.Plane, P: visp._visp.core.Point, Q: visp._visp.core.Point, R: visp._visp.core.Point, frame: visp._visp.core.Plane.PlaneFrame) -> None

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: Three points on the plane.
Q: Three points on the plane.
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.

init(self: visp._visp.core.Plane, P: visp._visp.core.ColVector, n: visp._visp.core.ColVector) -> None

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

Note

See vpPlane(const vpPoint&, const vpColVector &)

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.

init(self: visp._visp.core.Plane, P: visp._visp.core.Plane) -> None

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

Parameters:

P: Plane used as initializer.

projectionPointOnPlan(self, P: visp._visp.core.Point, Pproj: visp._visp.core.Point) → None¶

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

Parameters:

P: visp._visp.core.Point¶: point to be projected on the plane
Pproj: visp._visp.core.Point¶: result of the projection (pproj belongs to the plane)

rayIntersection(self, M0: visp._visp.core.Point, M1: visp._visp.core.Point, H: visp._visp.core.ColVector) → float¶

setA(self, a: float) → None¶: Set plane parameter A.

setABCD(self, a: float, b: float, c: float, d: float) → None¶: Set plane parameters A, B, C, D.

setB(self, b: float) → None¶: Set plane parameter B.

setC(self, c: float) → None¶: Set plane parameter C.

setD(self, d: float) → None¶: Set plane parameter D.