Landing Spot Identification with plane detection.
Extract the LIBS.zip in the same folder as the files.
Use CMAKE to make the project and run it with the command: ./trackLANDINGPlanes ./vikon/DJI_0218.MP4 0 0.75 0 1 2 2 0 0 1 0.3 0.1 9 0.08 0.07 24 15 416 0.4
The code in "videostabKalmanLANDINGPlanes REVERSE FROM DEPTH IMAGE.cpp" can be used to emulate run of the system from a pre-recorded depth image, that must be in a folder names images inside the folder of the executable e.g. "images/168699_depth_norm.png"
//EXP1 FINAL B 55
./trackLANDINGPlanes ./images/168698_depth_norm.png 4 11 0 1 2 2 0 0 1 0.3 0.1 9 0.08 0.07 24 -5.00966e-03 1.4289e-02 0.003230350194553 //frame 414
//EXP2 FINAL B 31
./trackLANDINGPlanes ./images/194548_depth_norm.png 1 12.55 0 1 2 2 0 0 1 0.3 0.1 9 0.08 0.07 24 -7.49339e-02 2.4893e-03 0.003230353979644 //frame 508
//EXP3 FINAL B 59
./trackLANDINGPlanes ./images/173523_depth_norm.png 2 12.5 0 1 2 2 0 0 1 0.3 0.1 9 0.08 0.07 24 -6.8183e-02 1.54839e-02 0.003510403631196 //frame 600
//EXP4 FINAL B 44
./trackLANDINGPlanes ./images/179259_depth_norm.png 0 12.5 0 1 2 2 0 0 1 0.3 0.1 9 0.08 0.07 24 9.14626e-03 1.06459e-03 0.003199411340924 //frame 457