A plane defined by a point and a normal, or a plane equation Other elements can be extracted such as the mesh, the 3D bounds...
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A plane defined by a point and a normal, or a plane equation Other elements can be extracted such as the mesh, the 3D bounds...
- Note
- The plane measurement are expressed in REFERENCE_FRAME defined by RuntimeParameters::measure3D_reference_frame
◆ Plane()
◆ ~Plane()
◆ clear()
◆ getNormal()
Get the plane normal vector.
- Returns
- Plane normal vector, with normalized components
◆ getCenter()
Get the plane center point.
- Returns
- Plane center point
◆ getPose()
Get the plane pose relative to the global reference frame.
- Returns
- A transformation matrix (rotation and translation) which give the plane pose. Can be used to transform the global reference frame center (0,0,0) to the plane center
◆ getExtents()
Get the width and height of the bounding rectangle around the plane contours.
- Returns
- Width and height of the bounding plane contours
- Warning
- This value is expressed in the plane reference frame
◆ getPlaneEquation()
Get the plane equation.
- Returns
- Plane equation, in the form : ax+by+cz=d, the returned values are (a,b,c,d)
◆ getBounds()
Get the polygon bounds of the plane.
- Returns
- Vector of 3D points forming a polygon bounds corresponding to the current visible limits of the plane
◆ extractMesh()
Compute and return the mesh of the bounds polygon.
- Returns
- A mesh representing the plane delimited by the visible bounds
◆ getClosestDistance()
Get the distance between the input point and the projected point alongside the normal vector onto the plane. This corresponds to the closest point on the plane.
- Parameters
-
The | point to project into the plane |
- Returns
- The Euclidean distance between the input point and the projected point
◆ type
The plane type define the plane orientation : vertical or horizontal.
- Note
- It is deduced from the gravity vector and is therefore only available with the ZED-M. The ZED will give PLANE_TYPE::UNKNOWN for every planes.