findPlanes

ptcloudfunctionOpenCV 5.0.0

import { findPlanes } from '@banou/opencv-wasm'

Use after await initOpenCV(). See the initialization and named imports guide.

ARGUMENTSpoints3d, normals, mask, plane_coefficients

FUNCTIONfindPlanes

RETURN TYPEvoid

Call structure. A void return can still write to destination arguments. The parameter descriptions define inputs, outputs and ownership.

Find the planes in a depth image

findPlanes(points3d: Mat, normals: Mat, mask: Mat, plane_coefficients: Mat, block_size: number, min_size: number, threshold: number, sensor_error_a: number, sensor_error_b: number, sensor_error_c: number, method: number): void;

8 available overloads

findPlanes(points3d: Mat, normals: Mat, mask: Mat, plane_coefficients: Mat): void;

findPlanes(points3d: Mat, normals: Mat, mask: Mat, plane_coefficients: Mat, block_size: number): void;

findPlanes(points3d: Mat, normals: Mat, mask: Mat, plane_coefficients: Mat, block_size: number, min_size: number): void;

findPlanes(points3d: Mat, normals: Mat, mask: Mat, plane_coefficients: Mat, block_size: number, min_size: number, threshold: number): void;

findPlanes(points3d: Mat, normals: Mat, mask: Mat, plane_coefficients: Mat, block_size: number, min_size: number, threshold: number, sensor_error_a: number): void;

findPlanes(points3d: Mat, normals: Mat, mask: Mat, plane_coefficients: Mat, block_size: number, min_size: number, threshold: number, sensor_error_a: number, sensor_error_b: number): void;

findPlanes(points3d: Mat, normals: Mat, mask: Mat, plane_coefficients: Mat, block_size: number, min_size: number, threshold: number, sensor_error_a: number, sensor_error_b: number, sensor_error_c: number): void;

findPlanes(points3d: Mat, normals: Mat, mask: Mat, plane_coefficients: Mat, block_size: number, min_size: number, threshold: number, sensor_error_a: number, sensor_error_b: number, sensor_error_c: number, method: number): void;

points3d: the 3d points organized like the depth image: rows x cols with 3 channels
normals: the normals for every point in the depth image; optional, can be empty
mask: Output destination, filled by the native operation. 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: Output destination, filled by the native operation. 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)
block_size: The size of the blocks to look at for a stable MSE
min_size: The minimum size of a cluster to be considered a plane
threshold: The maximum distance of a point from a plane to belong to it (in meters)
sensor_error_a: coefficient of the sensor error. 0 by default, use 0.0075 for a Kinect
sensor_error_b: coefficient of the sensor error. 0 by default
sensor_error_c: coefficient of the sensor error. 0 by default
method: The method to use to compute the planes.

Upstream declaration ↗

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