vpPlaneEstimation Class Reference

#include <visp3/vision/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={})

Detailed Description

Note

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

Definition at line 63 of file vpPlaneEstimation.h.

Member Function Documentation

estimatePlane()

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 201 of file vpPlaneEstimation.cpp.

References vpColor::black, vpMath::clamp(), vpPixelMeterConversion::convertPoint(), vpMeterPixelConversion::convertPoint(), vpPolygon::getBoundingBox(), vpPolygon::getCorners(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpPolygon::isInside().