OpenCV  4.2.0-pre
Open Source Computer Vision
Public Types | Public Member Functions | Static Public Member Functions | List of all members
cv::rgbd::RgbdPlane Class Reference

#include <opencv2/rgbd/depth.hpp>

Inheritance diagram for cv::rgbd::RgbdPlane:
cv::Algorithm

Public Types

enum  RGBD_PLANE_METHOD { RGBD_PLANE_METHOD_DEFAULT }
 

Public Member Functions

 RgbdPlane (int method=RgbdPlane::RGBD_PLANE_METHOD_DEFAULT)
 
 RgbdPlane (int method, int block_size, int min_size, double threshold, double sensor_error_a=0, double sensor_error_b=0, double sensor_error_c=0)
 
 ~RgbdPlane ()
 
int getBlockSize () const
 
int getMethod () const
 
int getMinSize () const
 
double getSensorErrorA () const
 
double getSensorErrorB () const
 
double getSensorErrorC () const
 
double getThreshold () const
 
void operator() (InputArray points3d, InputArray normals, OutputArray mask, OutputArray plane_coefficients)
 
void operator() (InputArray points3d, OutputArray mask, OutputArray plane_coefficients)
 
void setBlockSize (int val)
 
void setMethod (int val)
 
void setMinSize (int val)
 
void setSensorErrorA (double val)
 
void setSensorErrorB (double val)
 
void setSensorErrorC (double val)
 
void setThreshold (double val)
 
- Public Member Functions inherited from cv::Algorithm
 Algorithm ()
 
virtual ~Algorithm ()
 
virtual void clear ()
 Clears the algorithm state. More...
 
virtual bool empty () const
 Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read. More...
 
virtual String getDefaultName () const
 
virtual void read (const FileNode &fn)
 Reads algorithm parameters from a file storage. More...
 
virtual void save (const String &filename) const
 
virtual void write (FileStorage &fs) const
 Stores algorithm parameters in a file storage. More...
 
void write (const Ptr< FileStorage > &fs, const String &name=String()) const
 simplified API for language bindings This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...
 

Static Public Member Functions

static Ptr< RgbdPlanecreate (int method, int block_size, int min_size, double threshold, double sensor_error_a=0, double sensor_error_b=0, double sensor_error_c=0)
 
- Static Public Member Functions inherited from cv::Algorithm
template<typename _Tp >
static Ptr< _Tp > load (const String &filename, const String &objname=String())
 Loads algorithm from the file. More...
 
template<typename _Tp >
static Ptr< _Tp > loadFromString (const String &strModel, const String &objname=String())
 Loads algorithm from a String. More...
 
template<typename _Tp >
static Ptr< _Tp > read (const FileNode &fn)
 Reads algorithm from the file node. More...
 

Additional Inherited Members

- Protected Member Functions inherited from cv::Algorithm
void writeFormat (FileStorage &fs) const
 

Detailed Description

Object that can compute planes in an image

Member Enumeration Documentation

◆ RGBD_PLANE_METHOD

Enumerator
RGBD_PLANE_METHOD_DEFAULT 

Constructor & Destructor Documentation

◆ RgbdPlane() [1/2]

cv::rgbd::RgbdPlane::RgbdPlane ( int  method = RgbdPlane::RGBD_PLANE_METHOD_DEFAULT)
inline

◆ RgbdPlane() [2/2]

cv::rgbd::RgbdPlane::RgbdPlane ( int  method,
int  block_size,
int  min_size,
double  threshold,
double  sensor_error_a = 0,
double  sensor_error_b = 0,
double  sensor_error_c = 0 
)

Constructor

Parameters
block_sizeThe size of the blocks to look at for a stable MSE
min_sizeThe minimum size of a cluster to be considered a plane
thresholdThe maximum distance of a point from a plane to belong to it (in meters)
sensor_error_acoefficient of the sensor error. 0 by default, 0.0075 for a Kinect
sensor_error_bcoefficient of the sensor error. 0 by default
sensor_error_ccoefficient of the sensor error. 0 by default
methodThe method to use to compute the planes.

◆ ~RgbdPlane()

cv::rgbd::RgbdPlane::~RgbdPlane ( )

Member Function Documentation

◆ create()

static Ptr<RgbdPlane> cv::rgbd::RgbdPlane::create ( int  method,
int  block_size,
int  min_size,
double  threshold,
double  sensor_error_a = 0,
double  sensor_error_b = 0,
double  sensor_error_c = 0 
)
static
Python:
retval=cv.rgbd.RgbdPlane_create(method, block_size, min_size, threshold[, sensor_error_a[, sensor_error_b[, sensor_error_c]]])

◆ getBlockSize()

int cv::rgbd::RgbdPlane::getBlockSize ( ) const
inline
Python:
retval=cv.rgbd_RgbdPlane.getBlockSize()

◆ getMethod()

int cv::rgbd::RgbdPlane::getMethod ( ) const
inline
Python:
retval=cv.rgbd_RgbdPlane.getMethod()

◆ getMinSize()

int cv::rgbd::RgbdPlane::getMinSize ( ) const
inline
Python:
retval=cv.rgbd_RgbdPlane.getMinSize()

◆ getSensorErrorA()

double cv::rgbd::RgbdPlane::getSensorErrorA ( ) const
inline
Python:
retval=cv.rgbd_RgbdPlane.getSensorErrorA()

◆ getSensorErrorB()

double cv::rgbd::RgbdPlane::getSensorErrorB ( ) const
inline
Python:
retval=cv.rgbd_RgbdPlane.getSensorErrorB()

◆ getSensorErrorC()

double cv::rgbd::RgbdPlane::getSensorErrorC ( ) const
inline
Python:
retval=cv.rgbd_RgbdPlane.getSensorErrorC()

◆ getThreshold()

double cv::rgbd::RgbdPlane::getThreshold ( ) const
inline
Python:
retval=cv.rgbd_RgbdPlane.getThreshold()

◆ operator()() [1/2]

void cv::rgbd::RgbdPlane::operator() ( InputArray  points3d,
InputArray  normals,
OutputArray  mask,
OutputArray  plane_coefficients 
)

Find The planes in a depth image

Parameters
points3dthe 3d points organized like the depth image: rows x cols with 3 channels
normalsthe normals for every point in the depth image
maskAn image where each pixel is labeled with the plane it belongs to and 255 if it does not belong to any plane
plane_coefficientsthe coefficients of the corresponding planes (a,b,c,d) such that ax+by+cz+d=0, norm(a,b,c)=1 and c < 0 (so that the normal points towards the camera)

◆ operator()() [2/2]

void cv::rgbd::RgbdPlane::operator() ( InputArray  points3d,
OutputArray  mask,
OutputArray  plane_coefficients 
)

Find The planes in a depth image but without doing a normal check, which is faster but less accurate

Parameters
points3dthe 3d points organized like the depth image: rows x cols with 3 channels
maskAn image where each pixel is labeled with the plane it belongs to and 255 if it does not belong to any plane
plane_coefficientsthe coefficients of the corresponding planes (a,b,c,d) such that ax+by+cz+d=0

◆ setBlockSize()

void cv::rgbd::RgbdPlane::setBlockSize ( int  val)
inline
Python:
None=cv.rgbd_RgbdPlane.setBlockSize(val)

◆ setMethod()

void cv::rgbd::RgbdPlane::setMethod ( int  val)
inline
Python:
None=cv.rgbd_RgbdPlane.setMethod(val)

◆ setMinSize()

void cv::rgbd::RgbdPlane::setMinSize ( int  val)
inline
Python:
None=cv.rgbd_RgbdPlane.setMinSize(val)

◆ setSensorErrorA()

void cv::rgbd::RgbdPlane::setSensorErrorA ( double  val)
inline
Python:
None=cv.rgbd_RgbdPlane.setSensorErrorA(val)

◆ setSensorErrorB()

void cv::rgbd::RgbdPlane::setSensorErrorB ( double  val)
inline
Python:
None=cv.rgbd_RgbdPlane.setSensorErrorB(val)

◆ setSensorErrorC()

void cv::rgbd::RgbdPlane::setSensorErrorC ( double  val)
inline
Python:
None=cv.rgbd_RgbdPlane.setSensorErrorC(val)

◆ setThreshold()

void cv::rgbd::RgbdPlane::setThreshold ( double  val)
inline
Python:
None=cv.rgbd_RgbdPlane.setThreshold(val)

The documentation for this class was generated from the following file: