Public Member Functions | Public Attributes
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)
void getQuaternionRotation (Scalar &x, Scalar &y, Scalar &z, Scalar &w, cv::Vec< Scalar, 3 > &normal)
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

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.


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:
AAx + by + cz + d = 0
Bax + By + cz + d = 0
Cax + by + Cz + d = 0
Dax + by + cz + D = 0

Definition at line 101 of file normals.h.


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:
ptPoint 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 
) [inline]

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

Parameters:
xX value of quaternion
yY value of quaternion
zZ value of quaternion
wW value of quaternion

Definition at line 152 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 >::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:
planePlane to be compared with
angleErrError threshold in angle of normals
shiftErrError threshold in shift (D coefficient)

Definition at line 134 of file normals.h.


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.


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


srs_env_model_percp
Author(s): Rostislav Hulik (ihulik@fit.vutbr.cz), Tomas Hodan, Michal Spanel (spanel@fit.vutbr.cz)
autogenerated on Mon Oct 6 2014 08:07:23