Visual Servoing Platform version 3.6.0
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vpPlaneEstimation.h
1/*
2 * ViSP, open source Visual Servoing Platform software.
3 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4 *
5 * This software is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 * See the file LICENSE.txt at the root directory of this source
10 * distribution for additional information about the GNU GPL.
11 *
12 * For using ViSP with software that can not be combined with the GNU
13 * GPL, please contact Inria about acquiring a ViSP Professional
14 * Edition License.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
27 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29 *
30 * Description:
31 * Plane estimation.
32 */
33
39#pragma once
40
41#include <visp3/core/vpConfig.h>
42
43#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_17) && \
44 (!defined(_MSC_VER) || ((VISP_CXX_STANDARD >= VISP_CXX_STANDARD_17) && (_MSC_VER >= 1911)))
45
46// Visual Studio: Optionals are available from Visual Studio 2017 RTW (15.0) [1910]
47// Visual Studio: Structured bindings are available from Visual Studio 2017 version 15.3 [1911] (cf .cpp)
48
49// System
50#include <functional>
51#include <optional>
52
53// Core
54#include <visp3/core/vpPlane.h>
55#include <visp3/core/vpPolygon.h>
56
63class VISP_EXPORT vpPlaneEstimation
64{
65public:
66 static std::optional<vpPlane> estimatePlane(const vpImage<uint16_t> &I_depth_raw, double depth_scale,
67 const vpCameraParameters &depth_intrinsics, const vpPolygon &roi,
68 const unsigned int avg_nb_of_pts_to_estimate = 500,
69 std::optional<std::reference_wrapper<vpImage<vpRGBa> > > heat_map = {});
70
71private:
72 static constexpr auto MinPointNbToEstimatePlane{20u};
73 static constexpr auto MaxSubSampFactorToEstimatePlane{20u};
74};
75
76#endif
Generic class defining intrinsic camera parameters.
Definition of the vpImage class member functions.
Definition vpImage.h:135
Defines a generic 2D polygon.
Definition vpPolygon.h:97