Visual Servoing Platform  version 3.5.1 under development (2023-05-31)
vpPlaneEstimation Class Reference

#include <visp3/vision/vpPlaneEstimation.h>

Static Public Member Functions

static std::optional< vpPlaneestimatePlane (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

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

Definition at line 68 of file vpPlaneEstimation.h.

Member Function Documentation

◆ estimatePlane()

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 = {} 

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

[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).
Plane equation.

Definition at line 213 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().