OpenCV
3.0.0
Open Source Computer Vision
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#include "rgbd.hpp"
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... | |
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:
Fast and Accurate Computation of Surface Normals from Range Images
by H. Badino, D. Huber, Y. Park and T. KanadeGradient 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
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cv::rgbd::RgbdNormals::RgbdNormals | ( | int | rows, |
int | cols, | ||
int | depth, | ||
InputArray | K, | ||
int | window_size = 5 , |
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int | method = RGBD_NORMALS_METHOD_FALS |
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) |
Constructor
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 | ( | ) |
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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
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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.
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 |
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