OpenCV  3.0.0-rc1
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cv::rgbd::RgbdNormals Class Reference

#include "rgbd.hpp"

Inheritance diagram for cv::rgbd::RgbdNormals:
cv::Algorithm

Public Types

enum  RGBD_NORMALS_METHOD {
  RGBD_NORMALS_METHOD_FALS,
  RGBD_NORMALS_METHOD_LINEMOD,
  RGBD_NORMALS_METHOD_SRI
}
 

Public Member Functions

 RgbdNormals ()
 
 RgbdNormals (int rows, int cols, int depth, InputArray K, int window_size=5, int method=RGBD_NORMALS_METHOD_FALS)
 
 ~RgbdNormals ()
 
int getCols () const
 
int getDepth () const
 
cv::Mat getK () const
 
int getMethod () const
 
int getRows () const
 
int getWindowSize () const
 
void initialize () const
 
void operator() (InputArray points, OutputArray normals) const
 
void setCols (int val)
 
void setDepth (int val)
 
void setK (const cv::Mat &val)
 
void setMethod (int val)
 
void setRows (int val)
 
void setWindowSize (int val)
 
- Public Member Functions inherited from cv::Algorithm
 Algorithm ()
 
virtual ~Algorithm ()
 
virtual void clear ()
 Clears the algorithm state. More...
 
virtual bool empty () const
 Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read. More...
 
virtual String getDefaultName () const
 
virtual void read (const FileNode &fn)
 Reads algorithm parameters from a file storage. More...
 
virtual void save (const String &filename) const
 
virtual void write (FileStorage &fs) const
 Stores algorithm parameters in a file storage. More...
 

Protected Member Functions

void initialize_normals_impl (int rows, int cols, int depth, const Mat &K, int window_size, int method) const
 

Protected Attributes

int cols_
 
int depth_
 
Mat K_
 
int method_
 
void * rgbd_normals_impl_
 
int rows_
 
int window_size_
 

Additional Inherited Members

- Static Public Member Functions inherited from cv::Algorithm
template<typename _Tp >
static Ptr< _Tp > load (const String &filename, const String &objname=String())
 Loads algorithm from the file. More...
 
template<typename _Tp >
static Ptr< _Tp > loadFromString (const String &strModel, const String &objname=String())
 Loads algorithm from a String. More...
 
template<typename _Tp >
static Ptr< _Tp > read (const FileNode &fn)
 Reads algorithm from the file node. More...
 

Detailed Description

Object that can compute the normals in an image. It is an object as it can cache data for speed efficiency The implemented methods are either:

Member Enumeration Documentation

Enumerator
RGBD_NORMALS_METHOD_FALS 
RGBD_NORMALS_METHOD_LINEMOD 
RGBD_NORMALS_METHOD_SRI 

Constructor & Destructor Documentation

cv::rgbd::RgbdNormals::RgbdNormals ( )
inline
cv::rgbd::RgbdNormals::RgbdNormals ( int  rows,
int  cols,
int  depth,
InputArray  K,
int  window_size = 5,
int  method = RGBD_NORMALS_METHOD_FALS 
)

Constructor

Parameters
rowsthe number of rows of the depth image normals will be computed on
colsthe number of cols of the depth image normals will be computed on
depththe depth of the normals (only CV_32F or CV_64F for FALS and SRI, CV_16U for LINEMOD)
Kthe calibration matrix to use
window_sizethe window size to compute the normals: can only be 1,3,5 or 7
methodone of the methods to use: RGBD_NORMALS_METHOD_SRI, RGBD_NORMALS_METHOD_FALS
cv::rgbd::RgbdNormals::~RgbdNormals ( )

Member Function Documentation

int cv::rgbd::RgbdNormals::getCols ( ) const
inline
int cv::rgbd::RgbdNormals::getDepth ( ) const
inline
cv::Mat cv::rgbd::RgbdNormals::getK ( ) const
inline
int cv::rgbd::RgbdNormals::getMethod ( ) const
inline
int cv::rgbd::RgbdNormals::getRows ( ) const
inline
int cv::rgbd::RgbdNormals::getWindowSize ( ) const
inline
void cv::rgbd::RgbdNormals::initialize ( ) const

Initializes some data that is cached for later computation If that function is not called, it will be called the first time normals are computed

void cv::rgbd::RgbdNormals::initialize_normals_impl ( int  rows,
int  cols,
int  depth,
const Mat K,
int  window_size,
int  method 
) const
protected
void cv::rgbd::RgbdNormals::operator() ( InputArray  points,
OutputArray  normals 
) const

Given a set of 3d points in a depth image, compute the normals at each point.

Parameters
pointsa rows x cols x 3 matrix of CV_32F/CV64F or a rows x cols x 1 CV_U16S
normalsa rows x cols x 3 matrix
void cv::rgbd::RgbdNormals::setCols ( int  val)
inline
void cv::rgbd::RgbdNormals::setDepth ( int  val)
inline
void cv::rgbd::RgbdNormals::setK ( const cv::Mat val)
inline
void cv::rgbd::RgbdNormals::setMethod ( int  val)
inline
void cv::rgbd::RgbdNormals::setRows ( int  val)
inline
void cv::rgbd::RgbdNormals::setWindowSize ( int  val)
inline

Member Data Documentation

int cv::rgbd::RgbdNormals::cols_
protected
int cv::rgbd::RgbdNormals::depth_
protected
Mat cv::rgbd::RgbdNormals::K_
protected
int cv::rgbd::RgbdNormals::method_
protected
void* cv::rgbd::RgbdNormals::rgbd_normals_impl_
mutableprotected
int cv::rgbd::RgbdNormals::rows_
protected
int cv::rgbd::RgbdNormals::window_size_
protected

The documentation for this class was generated from the following file: