cv::rgbd::RgbdNormals Class Reference

#include "rgbd.hpp"

Inheritance diagram for cv::rgbd::RgbdNormals:

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:

• FALS (the fastest) and SRI from Fast and Accurate Computation of Surface Normals from Range Images by H. Badino, D. Huber, Y. Park and T. Kanade
• the normals with bilateral filtering on a depth image from Gradient Response Maps for Real-Time Detection of Texture-Less Objects by S. Hinterstoisser, C. Cagniart, S. Ilic, P. Sturm, N. Navab, P. Fua, and V. Lepetit

Member Enumeration Documentation

enum cv::rgbd::RgbdNormals::RGBD_NORMALS_METHOD

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

rows	the number of rows of the depth image normals will be computed on
cols	the number of cols of the depth image normals will be computed on
depth	the depth of the normals (only CV_32F or CV_64F for FALS and SRI, CV_16U for LINEMOD)
K	the calibration matrix to use
window_size	the window size to compute the normals: can only be 1,3,5 or 7
method	one 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

points	a rows x cols x 3 matrix of CV_32F/CV64F or a rows x cols x 1 CV_U16S
normals	a 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

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

• /Users/build/test/opencv_contrib/modules/rgbd/include/opencv2/rgbd.hpp