Class RgbdNormals

Namespace

OpenCvSharp

Assembly

OpenCvSharp.dll

Object that can compute the normals in an image. It is an object as it can cache data for speed efficiency.

public class RgbdNormals : CvPtrObject, IDisposable

Inheritance

object

CvObject

CvPtrObject

RgbdNormals

Implements

IDisposable

Inherited Members

CvPtrObject.RawPtr

CvObject.IsDisposed

CvObject.ptr

CvObject.SetSafeHandle(OpenCvSafeHandle)

CvObject.Dispose()

CvObject.Dispose(bool)

CvObject.DisposeManaged()

CvObject.DisposeUnmanaged()

CvObject.ThrowIfDisposed()

CvObject.CvPtr

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Properties

Cols

Gets or sets the number of cols.

public int Cols { get; set; }

Property Value

int

Depth

Gets the depth of the normals.

public int Depth { get; }

Property Value

int

Rows

Gets or sets the number of rows.

public int Rows { get; set; }

Property Value

int

WindowSize

Gets or sets the window size.

public int WindowSize { get; set; }

Property Value

int

Methods

Apply(InputArray, OutputArray)

Given a set of 3d points in a depth image, compute the normals at each point.

public void Apply(InputArray points, OutputArray normals)

Parameters

points InputArray

a rows x cols x 3 matrix of CV_32F/CV_64F or a rows x cols x 1 CV_16U.

normals OutputArray

a rows x cols x 3 matrix.

Cache()

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

public void Cache()

Create(int, int, int, InputArray, int, float, RgbdNormalsMethod)

Creates a new RgbdNormals object.

public static RgbdNormals Create(int rows = 0, int cols = 0, int depth = 0, InputArray K = default, int windowSize = 5, float diffThreshold = 50, RgbdNormalsMethod method = RgbdNormalsMethod.RGBD_NORMALS_METHOD_FALS)

Parameters

rows int

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

cols int

the number of cols of the depth image normals will be computed on.

depth int

the depth of the normals (only CV_32F or CV_64F).

K InputArray

the calibration matrix to use.

windowSize int

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

diffThreshold float

threshold in depth difference, used in LINEMOD algorithm.

method RgbdNormalsMethod

one of the methods to use.

Returns

RgbdNormals

GetK(OutputArray)

Gets the calibration matrix.

public void GetK(OutputArray val)

Parameters

val OutputArray

the output calibration matrix.

GetMethod()

Gets the method used to compute the normals.

public RgbdNormalsMethod GetMethod()

Returns

RgbdNormalsMethod

Release()

Clean up any resources being used.

public void Release()

SetK(InputArray)

Sets the calibration matrix.

public void SetK(InputArray val)

Parameters

val InputArray

the calibration matrix to use.