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Add some useful methods for RANSAC Planes

This commit is contained in:
Simon Giraudot 2015-11-02 15:15:27 +01:00
parent 455e341731
commit ebb3dc18b9
1 changed files with 19 additions and 1 deletions
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20
Point_set_shape_detection_3/include/CGAL/Shape_detection_3/Plane.h
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@ -85,7 +85,25 @@ namespace CGAL {
return d * d;
}
/*!
Computes the orthogonal projection of a query point on the shape.
*/
Point_3 projection (const Point_3 &p) const {
Vector_3 v (m_point_on_primitive, p);
return m_point_on_primitive + (v * m_base1) * m_base1 + (v * m_base2) * m_base2;
}
/*!
Replaces the plane by p
*/
void update (const Plane_3& p) {
m_base1 = p.base1 (); m_base2 = p.base2 (); m_normal = p.orthogonal_vector ();
m_d = -(this->get_x(m_point_on_primitive) * this->get_x(m_normal)
+ this->get_y(m_point_on_primitive) * this->get_y(m_normal)
+ this->get_z(m_point_on_primitive) * this->get_z(m_normal));
}
/*!
Helper function to write the plane equation and
number of assigned points into a string.