Perception Tool Kit (PTK) API Guide
plane.h File Reference

Introduction

Declarations for PTK_Plane struct+functions.

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Data Structures

struct  PTK_Plane
 Definition of a plane. More...
 

Macros

#define PTK_PLANE_H
 

Functions

int32_t PTK_Plane_set (PTK_Plane *dst, float nx, float ny, float nz, float d)
 Set all four values for a point as a convenience function. At least one of nx, ny, nz must be non-zero. More...
 
void PTK_Plane_normalize (PTK_Plane *dst, PTK_Plane *src)
 Normalize plane parameters so that nx^2+ny^2+nz^2=1. More...
 
void PTK_Plane_transform (PTK_Plane *dst, PTK_Plane *src, const PTK_RigidTransform *M_dst_src)
 Apply the given rigid transformation to represent the plane (given in src reference frame) in dst reference frame. Output plane will have the same normalization factor as the input plane. More...
 
float PTK_Plane_dot (const PTK_Plane *plane, const PTK_Point *point)
 Dot product between a plane and a 3d point (x,y,z), which is out = x*nx + y*nx + z*nz - d. If the plane is the normalized, then out is the signed distance of the point from the plane, where positive is in the direction of the normal vector. More...
 
int32_t PTK_Plane_construct (PTK_Plane *plane, PTK_Point *a, PTK_Point *b, PTK_Point *c)
 Construct normalized plane from 3 non-colinear points in 3D space by taking cross product. More...
 
void PTK_Plane_projectPoint (PTK_Plane *plane, PTK_Point *proj, PTK_Point *point)
 Project 3D point onto the plane. More...
 

Macro Definition Documentation

◆ PTK_PLANE_H

#define PTK_PLANE_H