plane(const cv::Vec3f& point, const cv::Vec3f& normal)
{
a = normal[0];
b = normal[1];
c = normal[2];
d = -(point.dot(normal));
}
plane(const cv::Vec3f& point1, const cv::Vec3f& point2, const cv::Vec3f& point3)
{
cv::Vec3f v1 = point2 - point1;
cv::Vec3f v2 = point3 - point1;
cv::Vec3f normal = (v1.cross(v2));
normal /= cv::norm(normal, cv::NORM_L2);
a = normal[0];
b = normal[1];
c = normal[2];
d = -(point1.dot(normal));
}
float Utility::vecAngle(cv::Vec3f& v1, cv::Vec3f& v2) {
float cosVal = v1.dot(v2);
return std::acos(cosVal) * 57.29578049;
}