Inheritance diagram for HeightEstimator:
Collaboration diagram for HeightEstimator:
Public Member Functions | |
| def | __init__ (self, intrinsic) |
| def | apply (self, depth_frame) |
| def | calibrate (self, depth_map) |
 Public Member Functions inherited from tabletopPlaneEstimator | |
| def | get_PCA_results (self) |
| def | get_plane_params (self) |
| def | measure_plane (self, depth_map) |
| def | vis_plane (self, rgb) |
Public Attributes | |
| R | |
| T | |
| Public Attributes inherited from tabletopPlaneEstimator | |
| intrinsic | |
| p_cam_map | |
| -(H, W, 3). More... | |
| pca | |
| plane_params | |
Detailed Description
Estimate the height towards the perceived tabletop surface
Assuming the visual field contains only one surface,
Given the depth map and the camera intrinsic matrix,
The height estimator derive the transformation to get the distance map of each pixel to the surface.
The transformation will be directly applied on the homogeneous pixel coordinates.
Args:
intrinsic (np.ndarray. (3,3)): The camera intrinsic matrix.
Constructor & Destructor Documentation
◆ __init__()
| def __init__ | ( | self, | |
| intrinsic | |||
| ) |
Reimplemented from tabletopPlaneEstimator.
Member Function Documentation
◆ apply()
| def apply | ( | self, | |
| depth_frame | |||
| ) |
apply the calibrated transformation to a new frame
◆ calibrate()
| def calibrate | ( | self, | |
| depth_map | |||
| ) |
Member Data Documentation
◆ R
| R |
◆ T
| T |
The documentation for this class was generated from the following file:
- /home/pvela/python/camera/camera/tabletop/height_estimator.py
