View Source Evision.RGBD.RgbdPlane (Evision v0.2.7)

Summary

Types

t()

Type that represents an RGBD.RgbdPlane struct.

Types

@type t() :: %Evision.RGBD.RgbdPlane{ref: reference()}

Type that represents an RGBD.RgbdPlane struct.

  • ref. reference()

    The underlying erlang resource variable.

Functions

@spec apply(Keyword.t()) :: any() | {:error, String.t()}
@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.

    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
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apply(self, points3d, opts)

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@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.

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

  • normals: Evision.Mat.

    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.

    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
Link to this function

apply(self, points3d, normals, opts)

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@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.

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

  • normals: Evision.Mat.

    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(Keyword.t()) :: any() | {:error, String.t()}
@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(Keyword.t()) :: any() | {:error, String.t()}
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create(method, block_size, min_size, threshold)

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

create

Positional Arguments
  • method: integer().

    The method to use to compute the planes.

  • block_size: integer().

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

  • min_size: integer().

    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
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create(method, block_size, min_size, threshold, opts)

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

create

Positional Arguments
  • method: integer().

    The method to use to compute the planes.

  • block_size: integer().

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

  • min_size: integer().

    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(Keyword.t()) :: any() | {:error, String.t()}
@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
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getBlockSize(named_args)

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

getBlockSize

Positional Arguments
  • self: Evision.RGBD.RgbdPlane.t()
Return
  • retval: integer()

Python prototype (for reference only):

getBlockSize() -> retval
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getDefaultName(named_args)

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

getDefaultName

Positional Arguments
  • self: Evision.RGBD.RgbdPlane.t()
Return

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

getMethod

Positional Arguments
  • self: Evision.RGBD.RgbdPlane.t()
Return
  • retval: integer()

Python prototype (for reference only):

getMethod() -> retval
@spec getMinSize(Keyword.t()) :: any() | {:error, String.t()}
@spec getMinSize(t()) :: integer() | {:error, String.t()}

getMinSize

Positional Arguments
  • self: Evision.RGBD.RgbdPlane.t()
Return
  • retval: integer()

Python prototype (for reference only):

getMinSize() -> retval
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getSensorErrorA(named_args)

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@spec getSensorErrorA(Keyword.t()) :: any() | {:error, String.t()}
@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
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getSensorErrorB(named_args)

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@spec getSensorErrorB(Keyword.t()) :: any() | {:error, String.t()}
@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
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getSensorErrorC(named_args)

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@spec getSensorErrorC(Keyword.t()) :: any() | {:error, String.t()}
@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
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getThreshold(named_args)

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

Reads algorithm parameters from a file storage

Positional Arguments

Python prototype (for reference only):

read(fn) -> None
@spec save(Keyword.t()) :: any() | {:error, String.t()}
@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
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setBlockSize(named_args)

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

setBlockSize

Positional Arguments
  • self: Evision.RGBD.RgbdPlane.t()
  • val: integer()

Python prototype (for reference only):

setBlockSize(val) -> None
@spec setMethod(Keyword.t()) :: any() | {:error, String.t()}
@spec setMethod(t(), integer()) :: t() | {:error, String.t()}

setMethod

Positional Arguments
  • self: Evision.RGBD.RgbdPlane.t()
  • val: integer()

Python prototype (for reference only):

setMethod(val) -> None
@spec setMinSize(Keyword.t()) :: any() | {:error, String.t()}
@spec setMinSize(t(), integer()) :: t() | {:error, String.t()}

setMinSize

Positional Arguments
  • self: Evision.RGBD.RgbdPlane.t()
  • val: integer()

Python prototype (for reference only):

setMinSize(val) -> None
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setSensorErrorA(named_args)

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@spec setSensorErrorA(Keyword.t()) :: any() | {:error, String.t()}
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setSensorErrorA(self, val)

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@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
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setSensorErrorB(named_args)

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@spec setSensorErrorB(Keyword.t()) :: any() | {:error, String.t()}
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setSensorErrorB(self, val)

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@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
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setSensorErrorC(named_args)

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@spec setSensorErrorC(Keyword.t()) :: any() | {:error, String.t()}
Link to this function

setSensorErrorC(self, val)

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@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
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setThreshold(named_args)

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

Stores algorithm parameters in a file storage

Positional Arguments

Python prototype (for reference only):

write(fs) -> None
@spec write(t(), Evision.FileStorage.t(), binary()) :: t() | {:error, String.t()}

write

Positional Arguments

Has overloading in C++

Python prototype (for reference only):

write(fs, name) -> None