OpenCV  3.2.0
Open Source Computer Vision
Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
cv::rgbd::DepthCleaner Class Reference

#include "rgbd.hpp"

Inheritance diagram for cv::rgbd::DepthCleaner:

Public Types


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 Member Functions inherited from cv::Algorithm
void writeFormat (FileStorage &fs) 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


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


Constructor & Destructor Documentation

§ DepthCleaner() [1/2]

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

§ DepthCleaner() [2/2]

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


depththe depth of the normals (only CV_32F or CV_64F)
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

§ ~DepthCleaner()

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

Member Function Documentation

§ getDepth()

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

§ getMethod()

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

§ getWindowSize()

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

§ initialize()

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

§ initialize_cleaner_impl()

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

§ operator()()

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.

pointsa rows x cols x 3 matrix of CV_32F/CV64F or a rows x cols x 1 CV_U16S
deptha rows x cols matrix of the cleaned up depth

§ setDepth()

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

§ setMethod()

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

§ setWindowSize()

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

Member Data Documentation

§ depth_

int cv::rgbd::DepthCleaner::depth_

§ depth_cleaner_impl_

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

§ method_

int cv::rgbd::DepthCleaner::method_

§ window_size_

int cv::rgbd::DepthCleaner::window_size_

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