Class RgbdNormals

java.lang.Object
org.opencv.ptcloud.RgbdNormals
public class RgbdNormals extends 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 Details

    • nativeObj

      protected final long nativeObj

    • RGBD_NORMALS_METHOD_FALS

      public static final int RGBD_NORMALS_METHOD_FALS
      See Also:

    • RGBD_NORMALS_METHOD_LINEMOD

      public static final int RGBD_NORMALS_METHOD_LINEMOD
      See Also:

    • RGBD_NORMALS_METHOD_SRI

      public static final int RGBD_NORMALS_METHOD_SRI
      See Also:

    • RGBD_NORMALS_METHOD_CROSS_PRODUCT

      public static final int RGBD_NORMALS_METHOD_CROSS_PRODUCT
      See Also:

  • Constructor Details

    • RgbdNormals

      protected RgbdNormals(long addr)

  • Method Details

    • 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()