Package org.opencv.cv3d

Class RgbdNormals

java.lang.Object

org.opencv.cv3d.RgbdNormals

public class RgbdNormals
extends java.lang.Object

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

Field Summary

Fields

Modifier and Type	Field	Description
protected long	nativeObj
static int	RGBD_NORMALS_METHOD_CROSS_PRODUCT
static int	RGBD_NORMALS_METHOD_FALS
static int	RGBD_NORMALS_METHOD_LINEMOD
static int	RGBD_NORMALS_METHOD_SRI

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	RgbdNormals(long addr)

Method Summary

Modifier and Type	Method	Description
static RgbdNormals	__fromPtr__(long addr)
void	apply(Mat points, Mat normals)	Given a set of 3d points in a depth image, compute the normals at each point.
void	cache()	Prepares cached data required for calculation If not called by user, called automatically at first calculation
static RgbdNormals	create()	Creates new RgbdNormals object
static RgbdNormals	create(int rows)	Creates new RgbdNormals object
static RgbdNormals	create(int rows, int cols)	Creates new RgbdNormals object
static RgbdNormals	create(int rows, int cols, int depth)	Creates new RgbdNormals object
static RgbdNormals	create(int rows, int cols, int depth, Mat K)	Creates new RgbdNormals object
static RgbdNormals	create(int rows, int cols, int depth, Mat K, int window_size)	Creates new RgbdNormals object
static RgbdNormals	create(int rows, int cols, int depth, Mat K, int window_size, float diff_threshold)	Creates new RgbdNormals object
static RgbdNormals	create(int rows, int cols, int depth, Mat K, int window_size, float diff_threshold, int method)	Creates new RgbdNormals object
protected void	finalize()
int	getCols()
int	getDepth()
void	getK(Mat val)
int	getMethod()
long	getNativeObjAddr()
int	getRows()
int	getWindowSize()
void	setCols(int val)
void	setK(Mat val)
void	setRows(int val)
void	setWindowSize(int val)

Methods inherited from class java.lang.Object

clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

nativeObj

protected final long nativeObj

RGBD_NORMALS_METHOD_FALS

public static final int RGBD_NORMALS_METHOD_FALS

See Also:

Constant Field Values

RGBD_NORMALS_METHOD_LINEMOD

public static final int RGBD_NORMALS_METHOD_LINEMOD

See Also:

Constant Field Values

RGBD_NORMALS_METHOD_SRI

public static final int RGBD_NORMALS_METHOD_SRI

See Also:

Constant Field Values

RGBD_NORMALS_METHOD_CROSS_PRODUCT

public static final int RGBD_NORMALS_METHOD_CROSS_PRODUCT

See Also:

Constant Field Values

Constructor Detail

RgbdNormals

protected RgbdNormals(long addr)

Method Detail

getNativeObjAddr

public long getNativeObjAddr()

__fromPtr__

public static RgbdNormals __fromPtr__(long addr)

create

public static RgbdNormals create(int rows,
                                 int cols,
                                 int depth,
                                 Mat K,
                                 int window_size,
                                 float diff_threshold,
                                 int method)

Creates new RgbdNormals object

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)

K - the calibration matrix to use

window_size - the window size to compute the normals: can only be 1,3,5 or 7

diff_threshold - threshold in depth difference, used in LINEMOD algirithm

method - one of the methods to use: RGBD_NORMALS_METHOD_SRI, RGBD_NORMALS_METHOD_FALS

Returns:

automatically generated

create

public static RgbdNormals create(int rows,
                                 int cols,
                                 int depth,
                                 Mat K,
                                 int window_size,
                                 float diff_threshold)

Creates new RgbdNormals object

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)

K - the calibration matrix to use

window_size - the window size to compute the normals: can only be 1,3,5 or 7

diff_threshold - threshold in depth difference, used in LINEMOD algirithm

Returns:

automatically generated

create

public static RgbdNormals create(int rows,
                                 int cols,
                                 int depth,
                                 Mat K,
                                 int window_size)

Creates new RgbdNormals object

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)

K - the calibration matrix to use

window_size - the window size to compute the normals: can only be 1,3,5 or 7

Returns:

automatically generated

create

public static RgbdNormals create(int rows,
                                 int cols,
                                 int depth,
                                 Mat K)

Creates new RgbdNormals object

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)

K - the calibration matrix to use

Returns:

automatically generated

create

public static RgbdNormals create(int rows,
                                 int cols,
                                 int depth)

Creates new RgbdNormals object

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)

Returns:

automatically generated

create

public static RgbdNormals create(int rows,
                                 int cols)

Creates new RgbdNormals object

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

Returns:

automatically generated

create

public static RgbdNormals create(int rows)

Creates new RgbdNormals object

Parameters:

rows - the number of rows of the depth image normals will be computed on

Returns:

automatically generated

create

public static RgbdNormals create()

Creates new RgbdNormals object

Returns:

automatically generated

apply

public void apply(Mat points,
                  Mat normals)

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

cache

public void cache()

Prepares cached data required for calculation If not called by user, called automatically at first calculation

getRows

public int getRows()

setRows

public void setRows(int val)

getCols

public int getCols()

setCols

public void setCols(int val)

getWindowSize

public int getWindowSize()

setWindowSize

public void setWindowSize(int val)

getDepth

public int getDepth()

getK

public void getK(Mat val)

setK

public void setK(Mat val)

getMethod

public int getMethod()

finalize

protected void finalize()
                 throws java.lang.Throwable

Overrides:

finalize in class java.lang.Object

Throws:

java.lang.Throwable