vpPlaneEstimation Class Reference

#include <vpPlaneEstimation.h>

Static Public Member Functions
static std::optional< vpPlane >	estimatePlane (const vpImage< uint16_t > &I_depth_raw, double depth_scale, const vpCameraParameters &depth_intrinsics, const vpPolygon &roi, const unsigned int avg_nb_of_pts_to_estimate=500, std::optional< std::reference_wrapper< vpImage< vpRGBa > > > heat_map={})
static std::optional< vpPlane >	estimatePlane (const vpImage< uint16_t > &I_depth_raw, double depth_scale, const vpCameraParameters &depth_intrinsics, const vpPolygon &roi, const std::optional< vpImage< bool > > &mask, const unsigned int avg_nb_of_pts_to_estimate=500, std::optional< std::reference_wrapper< vpImage< vpRGBa > > > heat_map={})
static std::optional< vpPlane >	estimatePlane (const vpImage< float > &I_depth, const vpCameraParameters &depth_intrinsics, const vpPolygon &roi, const std::optional< vpImage< bool > > &mask, const unsigned int &avg_nb_of_pts_to_estimate=500, std::optional< std::reference_wrapper< vpImage< vpRGBa > > > heat_map={})

Detailed Description

Note

This class is only available with c++17 enabled.

Tutorials & Examples

Tutorials
If you are interested in learning how to use this class, you may have a look at:

• Tutorial: Planar object pose estimation using RGB-D data.

Definition at line 70 of file vpPlaneEstimation.h.

Member Function Documentation

estimatePlane() [1/3]

std::optional< vpPlane > vpPlaneEstimation::estimatePlane ( const vpImage< float > & I_depth, const vpCameraParameters & depth_intrinsics, const vpPolygon & roi, const std::optional< vpImage< bool > > & mask, const unsigned int & avg_nb_of_pts_to_estimate = 500, std::optional< std::reference_wrapper< vpImage< vpRGBa > > > heat_map = {} )

static

Based on depth, estimate the plane equation of the roi.

Parameters

[in]	I_depth	: Depth map.
[in]	depth_intrinsics	: Depth camera parameters.
[in]	roi	: Region of interest.
[in]	mask	: OPtional boolean mask that indicates if a point must be considered
[in]	avg_nb_of_pts_to_estimate	: Average number of points to use to estimate the plane (default: 500).
[out]	heat_map	: Plane estimation heat map (optional).

Returns

Plane equation.

Definition at line 354 of file vpPlaneEstimation.cpp.

References vpPixelMeterConversion::convertPoint(), vpImagePoint::get_i(), and vpImagePoint::get_j().

estimatePlane() [2/3]

std::optional< vpPlane > vpPlaneEstimation::estimatePlane ( const vpImage< uint16_t > & I_depth_raw, double depth_scale, const vpCameraParameters & depth_intrinsics, const vpPolygon & roi, const std::optional< vpImage< bool > > & mask, const unsigned int avg_nb_of_pts_to_estimate = 500, std::optional< std::reference_wrapper< vpImage< vpRGBa > > > heat_map = {} )

static

Based on depth, estimate the plane equation of the roi.

Parameters

[in]	I_depth_raw	: Depth raw value.
[in]	depth_scale	: Depth scale (used to convert depth value into meters).
[in]	depth_intrinsics	: Depth camera parameters.
[in]	roi	: Region of interest.
[in]	mask	: OPtional boolean mask that indicates if a point must be considered
[in]	avg_nb_of_pts_to_estimate	: Average number of points to use to estimate the plane (default: 500).
[out]	heat_map	: Plane estimation heat map (optional).

Returns

Plane equation.

Definition at line 298 of file vpPlaneEstimation.cpp.

References vpPixelMeterConversion::convertPoint(), vpImagePoint::get_i(), vpImagePoint::get_j(), vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().

estimatePlane() [3/3]

BEGIN_VISP_NAMESPACE std::optional< vpPlane > vpPlaneEstimation::estimatePlane ( const vpImage< uint16_t > & I_depth_raw, double depth_scale, const vpCameraParameters & depth_intrinsics, const vpPolygon & roi, const unsigned int avg_nb_of_pts_to_estimate = 500, std::optional< std::reference_wrapper< vpImage< vpRGBa > > > heat_map = {} )

static

Based on depth, estimate the plane equation of the roi.

Parameters

[in]	I_depth_raw	: Depth raw value.
[in]	depth_scale	: Depth scale (used to convert depth value into meters).
[in]	depth_intrinsics	: Depth camera parameters.
[in]	roi	: Region of interest.
[in]	avg_nb_of_pts_to_estimate	: Average number of points to use to estimate the plane (default: 500).
[out]	heat_map	: Plane estimation heat map (optional).

Returns

Plane equation.

Examples

tutorial-pose-from-planar-object.cpp.

Definition at line 289 of file vpPlaneEstimation.cpp.

References estimatePlane().

Referenced by estimatePlane().