but_plane_detector::Plane< Scalar > Class Template Reference

#include <normals.h>

List of all members.

Public Member Functions
Scalar	distance (cv::Vec< Scalar, 3 > pt)
void	getInverseQuaternionRotation (Scalar &x, Scalar &y, Scalar &z, Scalar &w)
void	getQuaternionRotation (Scalar &x, Scalar &y, Scalar &z, Scalar &w, cv::Vec< Scalar, 3 > &normal)
void	getQuaternionRotation (Scalar &x, Scalar &y, Scalar &z, Scalar &w)
void	getQuaternionRotationInverse (Scalar &x, Scalar &y, Scalar &z, Scalar &w, cv::Vec< Scalar, 3 > &normal)
bool	isSimilar (Plane &plane, Scalar angleErr, Scalar shiftErr)
	Plane (Scalar A, Scalar B, Scalar C, Scalar D)
Public Attributes
Scalar	a
Scalar	b
Scalar	c
Scalar	d
Scalar	norm

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Detailed Description

template<typename Scalar>
class but_plane_detector::Plane< Scalar >

Class encapsulating plane equation and some plane speciffic computations

Definition at line 91 of file normals.h.

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Constructor & Destructor Documentation

template<typename Scalar>

but_plane_detector::Plane< Scalar >::Plane	(	Scalar	A,
		Scalar	B,
		Scalar	C,
		Scalar	D
	)			[inline]

Constructor - saves equation and computes norm of normal vector

Parameters:

	A	Ax + by + cz + d = 0
	B	ax + By + cz + d = 0
	C	ax + by + Cz + d = 0
	D	ax + by + cz + D = 0

Definition at line 101 of file normals.h.

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Member Function Documentation

template<typename Scalar>

Scalar but_plane_detector::Plane< Scalar >::distance

(

cv::Vec< Scalar, 3 >

pt

)

[inline]

Returns a distance of point and this plane

Parameters:

pt

Point for distance computation

Definition at line 122 of file normals.h.

template<typename Scalar>

void but_plane_detector::Plane< Scalar >::getInverseQuaternionRotation	(	Scalar &	x,
		Scalar &	y,
		Scalar &	z,
		Scalar &	w
	)			[inline]

Definition at line 182 of file normals.h.

template<typename Scalar>

void but_plane_detector::Plane< Scalar >::getQuaternionRotation	(	Scalar &	x,
		Scalar &	y,
		Scalar &	z,
		Scalar &	w,
		cv::Vec< Scalar, 3 > &	normal
	)			[inline]

Definition at line 212 of file normals.h.

template<typename Scalar>

void but_plane_detector::Plane< Scalar >::getQuaternionRotation	(	Scalar &	x,
		Scalar &	y,
		Scalar &	z,
		Scalar &	w
	)			[inline]

Returns a quaternion rotation of this plane normal from vector (1, 0, 0)

Parameters:

	x	X value of quaternion
	y	Y value of quaternion
	z	Z value of quaternion
	w	W value of quaternion

Definition at line 152 of file normals.h.

template<typename Scalar>

void but_plane_detector::Plane< Scalar >::getQuaternionRotationInverse	(	Scalar &	x,
		Scalar &	y,
		Scalar &	z,
		Scalar &	w,
		cv::Vec< Scalar, 3 > &	normal
	)			[inline]

Definition at line 242 of file normals.h.

template<typename Scalar>

bool but_plane_detector::Plane< Scalar >::isSimilar	(	Plane< Scalar > &	plane,
		Scalar	angleErr,
		Scalar	shiftErr
	)			[inline]

Returns if this plane is similar to the other one with taking into account angle error and shift error

Parameters:

	plane	Plane to be compared with
	angleErr	Error threshold in angle of normals
	shiftErr	Error threshold in shift (D coefficient)

Definition at line 134 of file normals.h.

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Member Data Documentation

template<typename Scalar>

Scalar but_plane_detector::Plane< Scalar >::a

Ax + by + cz + d = 0

Definition at line 274 of file normals.h.

template<typename Scalar>

Scalar but_plane_detector::Plane< Scalar >::b

ax + By + cz + d = 0

Definition at line 279 of file normals.h.

template<typename Scalar>

Scalar but_plane_detector::Plane< Scalar >::c

ax + by + Cz + d = 0

Definition at line 284 of file normals.h.

template<typename Scalar>

Scalar but_plane_detector::Plane< Scalar >::d

ax + by + cz + D = 0

Definition at line 294 of file normals.h.

template<typename Scalar>

Scalar but_plane_detector::Plane< Scalar >::norm

Plane normal length

Definition at line 289 of file normals.h.

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The documentation for this class was generated from the following file:

• normals.h