| OpenCV 3.4.8 Open Source Computer Vision

Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
cv::rgbd::RgbdNormals Class Reference
RGB-Depth Processing

`#include <opencv2/rgbd.hpp>`

Inheritance diagram for cv::rgbd::RgbdNormals:

## Public Types
enum | RGBD_NORMALS_METHOD { RGBD_NORMALS_METHOD_FALS = 0, RGBD_NORMALS_METHOD_LINEMOD = 1, RGBD_NORMALS_METHOD_SRI = 2 }

## Public Member Functions
| RgbdNormals ()
| RgbdNormals (int rows, int cols, int depth, InputArray K, int window_size=5, int method=RgbdNormals::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...
void | write (const Ptr< FileStorage > &fs, const String &name=String()) const
| simplified API for language bindings This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

## Static Public Member Functions
static Ptr< RgbdNormals > | create (int rows, int cols, int depth, InputArray K, int window_size=5, int method=RgbdNormals::RGBD_NORMALS_METHOD_FALS)
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...

## Protected Member Functions
void | initialize_normals_impl (int rows, int cols, int depth, const Mat &K, int window_size, int method) const
Protected Member Functions inherited from cv::Algorithm
void | writeFormat (FileStorage &fs) const

## Protected Attributes
int | cols_
int | depth_
Mat | K_
int | method_
void * | rgbd_normals_impl_
int | rows_
int | window_size_

## Detailed Description

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

## Member Enumeration Documentation

## § RGBD_NORMALS_METHOD

enum cv::rgbd::RgbdNormals::RGBD_NORMALS_METHOD

Enumerator
RGBD_NORMALS_METHOD_FALS |
RGBD_NORMALS_METHOD_LINEMOD |
RGBD_NORMALS_METHOD_SRI |

## Constructor & Destructor Documentation

## § RgbdNormals() [1/2]

cv::rgbd::RgbdNormals::RgbdNormals | ( |  | ) |
| inline

## § RgbdNormals() [2/2]

cv::rgbd::RgbdNormals::RgbdNormals | ( | int | rows,
|  | int | cols,
|  | int | depth,
|  | InputArray | K,
|  | int | window_size = `5`,
|  | int | method = `RgbdNormals::RGBD_NORMALS_METHOD_FALS`
| ) |  |

Constructor

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

## § ~RgbdNormals()

cv::rgbd::RgbdNormals::~RgbdNormals | ( |  | ) |

## Member Function Documentation

## § create()

static Ptr<RgbdNormals> cv::rgbd::RgbdNormals::create | ( | int | rows,
|  | int | cols,
|  | int | depth,
|  | InputArray | K,
|  | int | window_size = `5`,
|  | int | method = `RgbdNormals::RGBD_NORMALS_METHOD_FALS`
| ) |  |
| static

Python:
| retval | = | cv.rgbd.RgbdNormals_create( | rows, cols, depth, K[, window_size[, method]] | )

## § getCols()

int cv::rgbd::RgbdNormals::getCols | ( |  | ) | const
| inline

Python:
| retval | = | cv.rgbd_RgbdNormals.getCols( |  | )

## § getDepth()

int cv::rgbd::RgbdNormals::getDepth | ( |  | ) | const
| inline

Python:
| retval | = | cv.rgbd_RgbdNormals.getDepth( |  | )

## § getK()

cv::Mat cv::rgbd::RgbdNormals::getK | ( |  | ) | const
| inline

Python:
| retval | = | cv.rgbd_RgbdNormals.getK( |  | )

## § getMethod()

int cv::rgbd::RgbdNormals::getMethod | ( |  | ) | const
| inline

Python:
| retval | = | cv.rgbd_RgbdNormals.getMethod( |  | )

## § getRows()

int cv::rgbd::RgbdNormals::getRows | ( |  | ) | const
| inline

Python:
| retval | = | cv.rgbd_RgbdNormals.getRows( |  | )

## § getWindowSize()

int cv::rgbd::RgbdNormals::getWindowSize | ( |  | ) | const
| inline

Python:
| retval | = | cv.rgbd_RgbdNormals.getWindowSize( |  | )

## § initialize()

void cv::rgbd::RgbdNormals::initialize | ( |  | ) | const

Python:
| None | = | cv.rgbd_RgbdNormals.initialize( |  | )

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_normals_impl()

void cv::rgbd::RgbdNormals::initialize_normals_impl | ( | int | rows,
|  | int | cols,
|  | int | depth,
|  | const Mat & | K,
|  | int | window_size,
|  | int | method
| ) |  | const
| protected

## § operator()()

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.

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

## § setCols()

void cv::rgbd::RgbdNormals::setCols | ( | int | val | ) |
| inline

Python:
| None | = | cv.rgbd_RgbdNormals.setCols( | val | )

## § setDepth()

void cv::rgbd::RgbdNormals::setDepth | ( | int | val | ) |
| inline

Python:
| None | = | cv.rgbd_RgbdNormals.setDepth( | val | )

## § setK()

void cv::rgbd::RgbdNormals::setK | ( | const cv::Mat & | val | ) |
| inline

Python:
| None | = | cv.rgbd_RgbdNormals.setK( | val | )

## § setMethod()

void cv::rgbd::RgbdNormals::setMethod | ( | int | val | ) |
| inline

Python:
| None | = | cv.rgbd_RgbdNormals.setMethod( | val | )

## § setRows()

void cv::rgbd::RgbdNormals::setRows | ( | int | val | ) |
| inline

Python:
| None | = | cv.rgbd_RgbdNormals.setRows( | val | )

## § setWindowSize()

void cv::rgbd::RgbdNormals::setWindowSize | ( | int | val | ) |
| inline

Python:
| None | = | cv.rgbd_RgbdNormals.setWindowSize( | val | )

## Member Data Documentation

## § cols_

int cv::rgbd::RgbdNormals::cols_
| protected

## § depth_

int cv::rgbd::RgbdNormals::depth_
| protected

## § K_

Mat cv::rgbd::RgbdNormals::K_
| protected

## § method_

int cv::rgbd::RgbdNormals::method_
| protected

## § rgbd_normals_impl_

void* cv::rgbd::RgbdNormals::rgbd_normals_impl_
| mutable protected

## § rows_

int cv::rgbd::RgbdNormals::rows_
| protected

## § window_size_

int cv::rgbd::RgbdNormals::window_size_
| protected

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

- opencv2/rgbd.hpp