Collaboration diagram for PlanePolygon:

Public Member Functions
	PlanePolygon ()
	Empty (default) constructor has nothing to do.

	PlanePolygon (vector< vector3f > points)
	Build polygon using given plane filtered points.

	PlanePolygon (vector< vector3f > points, vector< vector2i > _pixelLocs)
	Build polygon using given plane filtered points, and also saves the pixel locations.

	~PlanePolygon ()
	Destructor.

double	distFromPlane (vector3f p)
	Returns distance of specified point from the plane.

vector3f	rayFromPlane (vector3f p)
	Returns ray perpendicular to the plane and pointing from the plane to the specified point p.

vector2f	projectOnto (const vector3f &p) const
	Project 3D point onto the plane polygon and return corresponding 2D coordinates.

bool	liesAlongside (const vector3f &p) const
	Returns true if the point, projected onto the plane, lies within the convex hull.

void	merge (PlanePolygon &poly2)
	Merge this plane polygon with the one provided.

void	merge (vector< PlanePolygon > &polygons)
	Merge this plane polygon with a set of other polygons.

void	transform (vector3f translation, Quaternionf rotation)
	Transforms the plane polygon by the specified translation and rotation.

void	transform (const GVector::matrix3d< float > &M)
	Transforms the plane polygon by the specified transformation matrix.

vector3f	intersect (vector3f l0, vector3f l)
	Returns the point of intersection of the line =d*l+l0 and this plane.

Public Attributes
double	numPoints
	Number of points used to build the polygon.

vector< vector2i >	pixelLocs
	Pixel locations of the points sampled from the depth image used to construct the polygon.

vector< vector3f >	vertices
	Vertices of the polygon.

vector< vector2f >	vertices2D
	Vertices projected onto the 2D basis vectors.

vector3f	normal
	Normal to the plane.

vector3f	p0
	Point on the plane corresponding to the centroid of the sampled points.

double	offset
	Perpendicular offset of the plane from the origin.

vector3f	b1
	Basis vectors on the plane. b1 corresponds to the major axis and b2 to the minor axis.

vector3f	b2

double	sum_xx
	Coefficients of the moments of the points.

double	sum_yy

double	sum_zz

double	sum_xy

double	sum_xz

double	sum_yz

float	width
	Rectangular dimensions of the polygon.

float	height

vector2f	min2D
	Rectangular extents of the polygon in 2D.

vector2f	max2D

vector3f	corners [4]
	Rectangular extents of the polygon in 3D.

bool	validPolygon
	Indicates whether a valid convex plane polygon fit was copmuted or not.

double	conditionNumber
	Ratio of the eigenvalues corresponding to the planar basis vectors.

Protected Member Functions
bool	constructConvexPoly (vector< vector3f > &points)
	Construct boindary points to make a convex polygon.

bool	computePlaneParameters (vector< vector3f > &points)
	Compute Plane normal, offset and scatter matrix coefficients from given points.

Protected Attributes
vector< vector2d >	normals2D
	Normals to the edges. normals2D[i] is normal to the edge (vertices2D[i], vertices2D[i+1])

vector< vector2d >	edgeDir2D
	Unit vectors parallel to the edges. edgeDir2D[i] is parallel to the edge (vertices2D[i], vertices2D[i+1])

vector< double >	edgeLengths
	Length of the edge (vertices2D[i], vertices2D[i+1])

vector< double >	offsets2D
	Offsets to the edges such that for an interior point p, normals2D[i].dot(p)+offsets2D[i]> 0 for all i.

GrahamsScan	grahamsScan
	Graham Scan class used to generate convex hull of the polygon.

Matrix3d	m
	Matrices for computing optimal plane parameters.

Matrix3d	eigenVectors

Vector3d	eigenValues
	Eigenvectors of the plane scatter matrix.

SelfAdjointEigenSolver< Matrix3d >	solver
	Solver to solve for optimal plane parameters.

Detailed Description

A class used to reprsesent a convex plane polygon with sampled points

Definition at line 48 of file plane_polygon.h.

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

Public Member Functions