Public Member Functions
	Plane ()
	Creates empty plane.

	Plane (double _a, double _b, double _c, double _d)
	Creates plane from given plane coefficients ( ). More...

	Plane (Vector3 _a, Vector3 _b, Vector3 _c)
	Creates plane from the coordinates (x,y,z) of the three given points. More...

	Plane (PointXYZ _a, PointXYZ _b, PointXYZ _c)
	Creates plane from three given points (PointXYZNormal). More...

	Plane (PointXYZNormal _a, PointXYZNormal _b, PointXYZNormal _c)
	Creates plane from three given points (PointXYZNormal). More...

const double *	getNormal () const
	Returns plane normal vector. More...

double *	getNormal ()
	Returns plane normal vector. More...

void	setNormal (double nx, double ny, double nz)
	Sets plane normal vector. More...

const double *	getMin () const
	Returns minimum coordinates. More...

void	setMin (double x, double y, double z)
	Sets minimum coordinates. More...

const double *	getMax () const
	Returns maximum coordinates. More...

void	setMax (double x, double y, double z)
	Sets maximum coordinates. More...

int	getId () const
	Returns Plane identifier. More...

void	setId (int id)
	Sets Plane identifier. More...

int	getFloorId () const
	Returns Floor identifier. More...

void	setFloorId (int id)
	Sets Floor identifier. More...

double	getD () const
	Returns coefficient d (Plane = ). More...

void	setD (double d)
	Sets coefficient d (Plane = ). More...

std::vector< int > &	getPointCloudIDs ()
	Returns Plane PointClouds identifiers. More...

void	setPointCloudIDs (std::vector< int > pcl_ids)

const std::vector< PointCloud > &	getPointClouds () const
	Returns Plane PointClouds. More...

std::vector< PointCloud > &	getPointClouds ()
	Returns Plane PointClouds. More...

void	addPointCloud (PointCloud &pc)
	Adds PointCloud to the Plane. More...

template<typename T >
void	getPoints (std::vector< T > &points)
	Returns Plane Points. More...

Vector3	getNormalVector ()
	Returns Plane normal vector. More...

double	distanceTo (Vector3 &v)
	Returns the distance between the receiver and the given point. More...

double	distanceTo (PointXYZ &p)
	Returns the distance between the receiver and the given point. More...

double	distanceTo (PointXYZNormal p)
	Returns the distance between the receiver and the given point. More...

double	distanceTo (std::vector< PointXYZ > &points)

double	distanceTo (std::vector< PointXYZNormal > &points)
	Returns the distance between the receiver and the given point. More...

Static Public Member Functions
static double	angleBetween (double a1, double b1, double c1, double a2, double b2, double c2)

static void	getLocalContinuity (std::vector< PointXYZ > points1, std::vector< PointXYZ > points2, std::vector< int > &result)

static void	getLocalMatch (std::vector< PointXYZNormal > points1, std::vector< PointXYZNormal > points2, std::vector< int > &result1, std::vector< int > &result2)
	Search for the overlapping points of two given planes. More...

static bool	makeWall (Plane &plane1, Plane &plane2, std::vector< PointXYZ > &result1, std::vector< PointXYZ > &result2)
	Search for the overlapping points of two given planes. More...

static double	checkLocalMatch (std::vector< PointXYZNormal > points1, std::vector< PointXYZNormal > points2)
	Returns the ratio of the overlapping area of two planes over the area of the smaller plane. More...

static double	checkMatchingArea (std::vector< PointXYZNormal > points1, std::vector< PointXYZNormal > points2)
	Returns the size of the overlapping area of two planes. More...

static void	giveCenterPlane (std::vector< PointXYZNormal > points1, std::vector< PointXYZNormal > points2, double(&v1)[3], double(&v2)[3], double(&v3)[3], double &d, std::vector< PointXYZNormal > &corners)
	Calculates the centerplane between the two given planes. More...

static bool	isInnerPlane (std::vector< PointXYZNormal > points, std::vector< BitGrid > roomGrids, double minOffset)
	Evaluates whether the plane is inner (between two rooms) or not (at the pointcloud boundary). More...

static bool	generateOuterPlane (std::vector< PointXYZNormal > points, std::vector< PointXYZNormal > &outPoints, std::vector< BitGrid > roomGrids, double minOffset)
	Generates a copy of the plane at the pointcloud boundary with given offset. More...

static double	distanceBetweenPlanes (Plane &pl1, Plane &pl2)
	Returns distance between planes with same a, b, c coefficients. More...

Constructor & Destructor Documentation

Plane::Plane	(	double	_a,
		double	_b,
		double	_c,
		double	_d
	)

inline

Creates plane from given plane coefficients ( $ax + by + cz + d = 0$ ).

Parameters

_a	Coefficient a
_b	Coefficient b
_c	Coefficient c
_d	Coefficient d

Plane::Plane	(	Vector3	_a,
		Vector3	_b,
		Vector3	_c
	)

inline

Creates plane from the coordinates (x,y,z) of the three given points.

Parameters

_a	Vector of the coordinates of the point 1
_b	Vector of the coordinates of the point 2
_c	Vector of the coordinates of the point 3

Plane::Plane	(	PointXYZ	_a,
		PointXYZ	_b,
		PointXYZ	_c
	)

inline

Creates plane from three given points (PointXYZNormal).

Parameters

_a	Point 1
_b	Point 2
_c	Point 3

Plane::Plane	(	PointXYZNormal	_a,
		PointXYZNormal	_b,
		PointXYZNormal	_c
	)

inline

Creates plane from three given points (PointXYZNormal).

Parameters

_a	Point 1
_b	Point 2
_c	Point 3

Member Function Documentation

void Plane::addPointCloud ( PointCloud & pc )

inline

Adds PointCloud to the Plane.

Parameters

pc	PointCloud to be added

static double Plane::checkLocalMatch	(	std::vector< PointXYZNormal >	points1,
		std::vector< PointXYZNormal >	points2
	)

inlinestatic

Returns the ratio of the overlapping area of two planes over the area of the smaller plane.

Parameters

points1	Points of the first plane
points2	Points of the second plane

Returns: Matched percentage

static double Plane::checkMatchingArea	(	std::vector< PointXYZNormal >	points1,
		std::vector< PointXYZNormal >	points2
	)

inlinestatic

Returns the size of the overlapping area of two planes.

Parameters

points1	Points of the first plane
points2	Points of the second plane

Returns: Matching area

static double Plane::distanceBetweenPlanes	(	Plane &	pl1,
		Plane &	pl2
	)

inlinestatic

Returns distance between planes with same a, b, c coefficients.

Parameters

pl1	The first plane
pl2	The second plane

Returns: Calculated distance

double Plane::distanceTo ( Vector3 & v )

inline

Returns the distance between the receiver and the given point.

Parameters

v	Vector of the coordinates (x, y, z) of the point to which the distance is calculated

Returns: Distance of the point to the plane

double Plane::distanceTo ( PointXYZ & p )

inline

Returns the distance between the receiver and the given point.

Parameters

p	Point to which the distance is calculated

Returns: Distance of the point to the plane

double Plane::distanceTo ( PointXYZNormal p )

inline

Returns the distance between the receiver and the given point.

Parameters

p	Point to which the distance is calculated

Returns: Distance of the point to the plane

double Plane::distanceTo ( std::vector< PointXYZNormal > & points )

inline

Returns the distance between the receiver and the given point.

Parameters

p	Point to which the distance is calculated

Returns: Distance of the point to the plane

static bool Plane::generateOuterPlane	(	std::vector< PointXYZNormal >	points,
		std::vector< PointXYZNormal > &	outPoints,
		std::vector< BitGrid >	roomGrids,
		double	minOffset
	)

inlinestatic

Generates a copy of the plane at the pointcloud boundary with given offset.

Parameters

points	Points of the plane to be copied
outPoints	Return parameter storing points of the newly generated plane
roomGrids	Vector of grids of all rooms in the pointcloud
minOffset	Parameter defining the offset (in the normal direction, positive value ~ out of the pointcloud) of the newly generated plane

Returns: True if plane is inner; False if plane is at the pointcloud boundary

double Plane::getD ( ) const

inline

Returns coefficient d (Plane = $ax + by + cz + d = 0$ ).

Returns: Coefficient d

int Plane::getFloorId ( ) const

inline

Returns Floor identifier.

Returns: Floor identifier

int Plane::getId ( ) const

inline

Returns Plane identifier.

Returns: Plane identifier

static void Plane::getLocalMatch	(	std::vector< PointXYZNormal >	points1,
		std::vector< PointXYZNormal >	points2,
		std::vector< int > &	result1,
		std::vector< int > &	result2
	)

inlinestatic

Search for the overlapping points of two given planes.

Parameters

points1	Points of the first plane
points2	Points of the second plane
result1	Indexes of the points1 which are overlapping with the second plane
result2	Indexes of the points2 which are overlapping with the first plane

const double* Plane::getMax ( ) const

inline

Returns maximum coordinates.

Returns: Maximum coordinates [x, y, z]

const double* Plane::getMin ( ) const

inline

Returns minimum coordinates.

Returns: Minimum coordinates [x, y, z]

const double* Plane::getNormal ( ) const

inline

Returns plane normal vector.

Returns: Plane normal vector.

double* Plane::getNormal ( )

inline

Returns plane normal vector.

Returns: Plane normal vector.

Vector3 Plane::getNormalVector ( )

inline

Returns Plane normal vector.

Returns: Normal vector

std::vector<int>& Plane::getPointCloudIDs ( )

inline

Returns Plane PointClouds identifiers.

Returns: PointClouds identifiers

const std::vector<PointCloud>& Plane::getPointClouds ( ) const

inline

Returns Plane PointClouds.

Returns: Plane PointClouds

std::vector<PointCloud>& Plane::getPointClouds ( )

inline

Returns Plane PointClouds.

Returns: Plane PointClouds

template<typename T >

void Plane::getPoints ( std::vector< T > & points )

inline

Returns Plane Points.

Parameters

points Return parametr storing Plane points

static void Plane::giveCenterPlane	(	std::vector< PointXYZNormal >	points1,
		std::vector< PointXYZNormal >	points2,
		double(&)	v1[3],
		double(&)	v2[3],
		double(&)	v3[3],
		double &	d,
		std::vector< PointXYZNormal > &	corners
	)

inlinestatic

Calculates the centerplane between the two given planes.

Parameters

points1	Plane 1
points2	Plane 2
v1	Return parameter corresponding to the normal vector of the calculated centerplane
v2	Return parameter corresponding to the in-plane vector of the calculated centerplane
v3	Return parameter corresponding to the in-plane vector of the calculated centerplane
d	Return parameter corresponding to coefficient d of the calculated plane
corners	Return parameter corresp[onding to the set of points defining the centerplane

static bool Plane::isInnerPlane	(	std::vector< PointXYZNormal >	points,
		std::vector< BitGrid >	roomGrids,
		double	minOffset
	)

inlinestatic

Evaluates whether the plane is inner (between two rooms) or not (at the pointcloud boundary).

Parameters

points	Points of the plane to be evaluated
roomGrids	Vector of grids of all rooms in the pointcloud
minOffset	Parameter defining how far from the plane to search for the room

Returns: True if plane is inner; False if plane is at the pointcloud boundary

static bool Plane::makeWall	(	Plane &	plane1,
		Plane &	plane2,
		std::vector< PointXYZ > &	result1,
		std::vector< PointXYZ > &	result2
	)

inlinestatic

Search for the overlapping points of two given planes.

Parameters

points1	Points of the first plane
points2	Points of the second plane
result1	Return parametr storing indexes of the points1 which are overlapping with the second plane
result2	Return parametr storing indexes of the points2 which are overlapping with the first plane

void Plane::setD ( double d )

inline

Sets coefficient d (Plane = $ax + by + cz + d = 0$ ).

Parameters

d	Coefficient d to be set

void Plane::setFloorId ( int id )

inline

Sets Floor identifier.

Parameters

id	Floor identifier to be set

void Plane::setId ( int id )

inline

Sets Plane identifier.

Parameters

id	Plane identifier to be set

void Plane::setMax	(	double	x,
		double	y,
		double	z
	)

inline

Sets maximum coordinates.

Parameters

x	X coordinate to be set
y	Y coordinate to be set
z	Z coordinate to be set

void Plane::setMin	(	double	x,
		double	y,
		double	z
	)

inline

Sets minimum coordinates.

Parameters

x	X coordinate to be set
y	Y coordinate to be set
z	Z coordinate to be set

void Plane::setNormal	(	double	nx,
		double	ny,
		double	nz
	)

inline

Sets plane normal vector.

Parameters

nx	X component
ny	Y component
nz	Z component

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

/home/edita/spcl2/src/Plane.h

Public Member Functions

Static Public Member Functions

Constructor & Destructor Documentation

Member Function Documentation