@spec apply(t(), Evision.Mat.maybe_mat_in()) ::
  {Evision.Mat.t(), Evision.Mat.t()} | {:error, String.t()}

apply

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()

• points3d: Evision.Mat.t().

  the 3d points organized like the depth image: rows x cols with 3 channels

Return

• mask: Evision.Mat.t().

  An image where each pixel is labeled with the plane it belongs to and 255 if it does not belong to any plane

• plane_coefficients: Evision.Mat.t().

  the coefficients of the corresponding planes (a,b,c,d) such that ax+by+cz+d=0

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

Python prototype (for reference only):

apply(points3d[, mask[, plane_coefficients]]) -> mask, plane_coefficients

@spec apply(t(), Evision.Mat.maybe_mat_in(), [{atom(), term()}, ...] | nil) ::
  {Evision.Mat.t(), Evision.Mat.t()} | {:error, String.t()}

@spec apply(t(), Evision.Mat.maybe_mat_in(), Evision.Mat.maybe_mat_in()) ::
  {Evision.Mat.t(), Evision.Mat.t()} | {:error, String.t()}

Variant 1:

apply

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()

• points3d: Evision.Mat.t().

  the 3d points organized like the depth image: rows x cols with 3 channels

• normals: Evision.Mat.t().

  the normals for every point in the depth image

Return

• mask: Evision.Mat.t().

  An image where each pixel is labeled with the plane it belongs to and 255 if it does not belong to any plane

• plane_coefficients: Evision.Mat.t().

  the 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)

Find The planes in a depth image

Python prototype (for reference only):

apply(points3d, normals[, mask[, plane_coefficients]]) -> mask, plane_coefficients

Variant 2:

apply

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()

• points3d: Evision.Mat.t().

  the 3d points organized like the depth image: rows x cols with 3 channels

Return

• mask: Evision.Mat.t().

  An image where each pixel is labeled with the plane it belongs to and 255 if it does not belong to any plane

• plane_coefficients: Evision.Mat.t().

  the coefficients of the corresponding planes (a,b,c,d) such that ax+by+cz+d=0

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

Python prototype (for reference only):

apply(points3d[, mask[, plane_coefficients]]) -> mask, plane_coefficients

@spec apply(
  t(),
  Evision.Mat.maybe_mat_in(),
  Evision.Mat.maybe_mat_in(),
  [{atom(), term()}, ...] | nil
) ::
  {Evision.Mat.t(), Evision.Mat.t()} | {:error, String.t()}

apply

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()

• points3d: Evision.Mat.t().

  the 3d points organized like the depth image: rows x cols with 3 channels

• normals: Evision.Mat.t().

  the normals for every point in the depth image

Return

• mask: Evision.Mat.t().

  An image where each pixel is labeled with the plane it belongs to and 255 if it does not belong to any plane

• plane_coefficients: Evision.Mat.t().

  the 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)

Find The planes in a depth image

Python prototype (for reference only):

apply(points3d, normals[, mask[, plane_coefficients]]) -> mask, plane_coefficients

@spec clear(t()) :: t() | {:error, String.t()}

Clears the algorithm state

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()

Python prototype (for reference only):

clear() -> None

@spec create(integer(), integer(), integer(), number()) :: t() | {:error, String.t()}

create

Positional Arguments

• method: int.

  The method to use to compute the planes.

• block_size: int.

  The size of the blocks to look at for a stable MSE

• min_size: int.

  The minimum size of a cluster to be considered a plane

• threshold: double.

  The maximum distance of a point from a plane to belong to it (in meters)

Keyword Arguments

• sensor_error_a: double.

  coefficient of the sensor error. 0 by default, 0.0075 for a Kinect

• sensor_error_b: double.

  coefficient of the sensor error. 0 by default

• sensor_error_c: double.

  coefficient of the sensor error. 0 by default

Return

• retval: RgbdPlane

Constructor

Python prototype (for reference only):

create(method, block_size, min_size, threshold[, sensor_error_a[, sensor_error_b[, sensor_error_c]]]) -> retval

@spec create(integer(), integer(), integer(), number(), [{atom(), term()}, ...] | nil) ::
  t() | {:error, String.t()}

create

Positional Arguments

• method: int.

  The method to use to compute the planes.

• block_size: int.

  The size of the blocks to look at for a stable MSE

• min_size: int.

  The minimum size of a cluster to be considered a plane

• threshold: double.

  The maximum distance of a point from a plane to belong to it (in meters)

Keyword Arguments

• sensor_error_a: double.

  coefficient of the sensor error. 0 by default, 0.0075 for a Kinect

• sensor_error_b: double.

  coefficient of the sensor error. 0 by default

• sensor_error_c: double.

  coefficient of the sensor error. 0 by default

Return

• retval: RgbdPlane

Constructor

Python prototype (for reference only):

create(method, block_size, min_size, threshold[, sensor_error_a[, sensor_error_b[, sensor_error_c]]]) -> retval

@spec empty(t()) :: boolean() | {:error, String.t()}

Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()

Return

• retval: bool

Python prototype (for reference only):

empty() -> retval

@spec getBlockSize(t()) :: integer() | {:error, String.t()}

getBlockSize

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()

Return

• retval: int

Python prototype (for reference only):

getBlockSize() -> retval

@spec getDefaultName(t()) :: binary() | {:error, String.t()}

getDefaultName

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()

Return

• retval: String

Returns the algorithm string identifier. This string is used as top level xml/yml node tag when the object is saved to a file or string.

Python prototype (for reference only):

getDefaultName() -> retval

@spec getMethod(t()) :: integer() | {:error, String.t()}

getMethod

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()

Return

• retval: int

Python prototype (for reference only):

getMethod() -> retval

@spec getMinSize(t()) :: integer() | {:error, String.t()}

getMinSize

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()

Return

• retval: int

Python prototype (for reference only):

getMinSize() -> retval

@spec getSensorErrorA(t()) :: number() | {:error, String.t()}

getSensorErrorA

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()

Return

• retval: double

Python prototype (for reference only):

getSensorErrorA() -> retval

@spec getSensorErrorB(t()) :: number() | {:error, String.t()}

getSensorErrorB

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()

Return

• retval: double

Python prototype (for reference only):

getSensorErrorB() -> retval

@spec getSensorErrorC(t()) :: number() | {:error, String.t()}

getSensorErrorC

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()

Return

• retval: double

Python prototype (for reference only):

getSensorErrorC() -> retval

@spec getThreshold(t()) :: number() | {:error, String.t()}

getThreshold

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()

Return

• retval: double

Python prototype (for reference only):

getThreshold() -> retval

@spec read(t(), Evision.FileNode.t()) :: t() | {:error, String.t()}

Reads algorithm parameters from a file storage

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()
• fn_: Evision.FileNode.t()

Python prototype (for reference only):

read(fn_) -> None

@spec save(t(), binary()) :: t() | {:error, String.t()}

save

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()
• filename: String

Saves the algorithm to a file. In order to make this method work, the derived class must implement Algorithm::write(FileStorage& fs).

Python prototype (for reference only):

save(filename) -> None

@spec setBlockSize(t(), integer()) :: t() | {:error, String.t()}

setBlockSize

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()
• val: int

Python prototype (for reference only):

setBlockSize(val) -> None

@spec setMethod(t(), integer()) :: t() | {:error, String.t()}

setMethod

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()
• val: int

Python prototype (for reference only):

setMethod(val) -> None

@spec setMinSize(t(), integer()) :: t() | {:error, String.t()}

setMinSize

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()
• val: int

Python prototype (for reference only):

setMinSize(val) -> None

@spec setSensorErrorA(t(), number()) :: t() | {:error, String.t()}

setSensorErrorA

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()
• val: double

Python prototype (for reference only):

setSensorErrorA(val) -> None

@spec setSensorErrorB(t(), number()) :: t() | {:error, String.t()}

setSensorErrorB

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()
• val: double

Python prototype (for reference only):

setSensorErrorB(val) -> None

@spec setSensorErrorC(t(), number()) :: t() | {:error, String.t()}

setSensorErrorC

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()
• val: double

Python prototype (for reference only):

setSensorErrorC(val) -> None

@spec setThreshold(t(), number()) :: t() | {:error, String.t()}

setThreshold

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()
• val: double

Python prototype (for reference only):

setThreshold(val) -> None

@spec write(t(), Evision.FileStorage.t()) :: t() | {:error, String.t()}

Stores algorithm parameters in a file storage

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()
• fs: Evision.FileStorage.t()

Python prototype (for reference only):

write(fs) -> None

@spec write(t(), Evision.FileStorage.t(), binary()) :: t() | {:error, String.t()}

write

Positional Arguments

• self: Evision.RGBD.RgbdPlane.t()
• fs: Evision.FileStorage.t()
• name: String

Has overloading in C++

Python prototype (for reference only):

write(fs, name) -> None