/// <summary>
/// compares the distance of a plane to a threshold distance. if two points distance is below threshold, it returns true
/// </summary>
/// <param name="pPlane">the plane containing 3 points</param>
/// <param name="pDistance">threshold distance</param>
/// <returns>true if below threshold</returns>
public static bool comparePlanePoints(PlaneModel pPlane, float pDistance)
{
if (PointCloud.distanceBetweenPoints(pPlane.point1, pPlane.point2) < pDistance ||
PointCloud.distanceBetweenPoints(pPlane.point2, pPlane.point3) < pDistance ||
PointCloud.distanceBetweenPoints(pPlane.point3, pPlane.point1) < pDistance)
{
return(true);
}
return(false);
}
/// <summary>
/// compares two planes for similarity. both normal and offset need to be similar
/// </summary>
/// <param name="pPlaneA">first plane</param>
/// <param name="pPlaneB">second plane</param>
/// <param name="varianceValue">allowed variance threshold</param>
/// <returns>true if similar, false if not</returns>
public static bool comparePlanes(PlaneModel pPlaneA, PlaneModel pPlaneB, float varianceValue)
{
if (Math.Abs(Math.Abs(pPlaneA.anxPlane.Normal.X) - Math.Abs(pPlaneB.anxPlane.Normal.X)) < varianceValue &&
Math.Abs(Math.Abs(pPlaneA.anxPlane.Normal.Y) - Math.Abs(pPlaneB.anxPlane.Normal.Y)) < varianceValue &&
Math.Abs(Math.Abs(pPlaneA.anxPlane.Normal.Z) - Math.Abs(pPlaneB.anxPlane.Normal.Z)) < varianceValue &&
Math.Abs(Math.Abs(pPlaneA.anxPlane.D) - Math.Abs(pPlaneB.anxPlane.D)) < varianceValue * 2)
{
return(true);
}
return(false);
}
