Trait opencv::prelude::RgbdNormalsTraitConst

source · 
pub trait RgbdNormalsTraitConst: AlgorithmTraitConst {
    fn as_raw_RgbdNormals(&self) -> *const c_void;

    fn apply(
        &self,
        points: &dyn ToInputArray,
        normals: &mut dyn ToOutputArray
    ) -> Result<()> { ... }
    fn initialize(&self) -> Result<()> { ... }
    fn get_rows(&self) -> Result<i32> { ... }
    fn get_cols(&self) -> Result<i32> { ... }
    fn get_window_size(&self) -> Result<i32> { ... }
    fn get_depth(&self) -> Result<i32> { ... }
    fn get_k(&self) -> Result<Mat> { ... }
    fn get_method(&self) -> Result<i32> { ... }
}
Expand 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

Required Methods§

Provided Methods§

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

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

Implementors§