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Merge pull request #2341 from czgdp1807:issue-2277

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Added constructors and destructors for RgbdPlane

* declared constructors and destructors of RgbdPlane

* definitions written

* tests for python bindings added
This commit is contained in:
Gagandeep Singh
2019-11-20 00:13:02 +05:30
committed by Alexander Alekhin
parent c5e0fa982d
commit b3ad2c323d
3 changed files with 86 additions and 0 deletions
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19
modules/rgbd/include/opencv2/rgbd.hpp
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@@ -379,6 +379,25 @@ namespace rgbd
{
}
/** Constructor
* @param block_size The size of the blocks to look at for a stable MSE
* @param min_size The minimum size of a cluster to be considered a plane
* @param threshold The maximum distance of a point from a plane to belong to it (in meters)
* @param sensor_error_a coefficient of the sensor error. 0 by default, 0.0075 for a Kinect
* @param sensor_error_b coefficient of the sensor error. 0 by default
* @param sensor_error_c coefficient of the sensor error. 0 by default
* @param method The method to use to compute the planes.
*/
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();
CV_WRAP static Ptr<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);
/** Find The planes in a depth image
* @param points3d the 3d points organized like the depth image: rows x cols with 3 channels
* @param normals the normals for every point in the depth image