Visual Servoing Platform  version 3.5.1 under development (2022-10-02)
vpPlaneEstimation.h
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30  *
31  * Description:
32  * Plane estimation.
33  *
34  * Authors:
35  * Julien Dufour
36  *
37  *****************************************************************************/
38 
44 #pragma once
45 
46 #include <visp3/core/vpConfig.h>
47 
48 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_17) && \
49  (!defined(_MSC_VER) || ((VISP_CXX_STANDARD >= VISP_CXX_STANDARD_17) && (_MSC_VER >= 1911)))
50 
51 // Visual Studio: Optionals are available from Visual Studio 2017 RTW (15.0) [1910]
52 // Visual Studio: Structured bindings are available from Visual Studio 2017 version 15.3 [1911] (cf .cpp)
53 
54 // System
55 #include <functional>
56 #include <optional>
57 
58 // Core
59 #include <visp3/core/vpPlane.h>
60 #include <visp3/core/vpPolygon.h>
61 
68 class VISP_EXPORT vpPlaneEstimation
69 {
70 public:
71  static std::optional<vpPlane> estimatePlane(const vpImage<uint16_t> &I_depth_raw, double depth_scale,
72  const vpCameraParameters &depth_intrinsics, const vpPolygon &roi,
73  const unsigned int avg_nb_of_pts_to_estimate = 500,
74  std::optional<std::reference_wrapper<vpImage<vpRGBa> > > heat_map = {});
75 
76 private:
77  static constexpr auto MinPointNbToEstimatePlane{20u};
78  static constexpr auto MaxSubSampFactorToEstimatePlane{20u};
79 };
80 
81 #endif
Generic class defining intrinsic camera parameters.
Definition of the vpImage class member functions.
Definition: vpImage.h:73
Defines a generic 2D polygon.
Definition: vpPolygon.h:106