cv::rgbd::DepthCleaner Class Reference

#include "rgbd.hpp"

Inheritance diagram for cv::rgbd::DepthCleaner:

Public Types
enum	DEPTH_CLEANER_METHOD { DEPTH_CLEANER_NIL }

Public Member Functions
	DepthCleaner ()
	DepthCleaner (int depth, int window_size=5, int method=DEPTH_CLEANER_NIL)
	~DepthCleaner ()
int	getDepth () const
int	getMethod () const
int	getWindowSize () const
void	initialize () const
void	operator() (InputArray points, OutputArray depth) const
void	setDepth (int val)
void	setMethod (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_cleaner_impl () const

Protected Attributes
int	depth_
void *	depth_cleaner_impl_
int	method_
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 clean a noisy depth image

Member Enumeration Documentation

enum cv::rgbd::DepthCleaner::DEPTH_CLEANER_METHOD

NIL method is from Modeling Kinect Sensor Noise for Improved 3d Reconstruction and Tracking by C. Nguyen, S. Izadi, D. Lovel

Enumerator
DEPTH_CLEANER_NIL

Constructor & Destructor Documentation

cv::rgbd::DepthCleaner::DepthCleaner ( )

inline

cv::rgbd::DepthCleaner::DepthCleaner	(	int	depth,
		int	window_size = 5,
		int	method = DEPTH_CLEANER_NIL
	)

Constructor

Parameters

depth	the depth of the normals (only CV_32F or CV_64F for FALS and SRI, CV_16U for LINEMOD)
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::DepthCleaner::~DepthCleaner

(

)

Member Function Documentation

int cv::rgbd::DepthCleaner::getDepth ( ) const

inline

int cv::rgbd::DepthCleaner::getMethod ( ) const

inline

int cv::rgbd::DepthCleaner::getWindowSize ( ) const

inline

void cv::rgbd::DepthCleaner::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::DepthCleaner::initialize_cleaner_impl ( ) const

protected

void cv::rgbd::DepthCleaner::operator()	(	InputArray	points,
		OutputArray	depth
	)		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
depth	a rows x cols matrix of the cleaned up depth

void cv::rgbd::DepthCleaner::setDepth ( int  val )

inline

void cv::rgbd::DepthCleaner::setMethod ( int  val )

inline

void cv::rgbd::DepthCleaner::setWindowSize ( int  val )

inline

Member Data Documentation

int cv::rgbd::DepthCleaner::depth_

protected

void* cv::rgbd::DepthCleaner::depth_cleaner_impl_

mutableprotected

int cv::rgbd::DepthCleaner::method_

protected

int cv::rgbd::DepthCleaner::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