Struct RgbdNormals

pub struct RgbdNormals { /* private fields */ }

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

Implementations

impl RgbdNormals

pub fn default() -> Result<RgbdNormals>

pub fn new( rows: i32, cols: i32, depth: i32, k: &impl ToInputArray, window_size: i32, method: i32, ) -> Result<RgbdNormals>

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

C++ default parameters

• window_size: 5
• method: RgbdNormals::RGBD_NORMALS_METHOD_FALS

pub fn new_def( rows: i32, cols: i32, depth: i32, k: &impl ToInputArray, ) -> Result<RgbdNormals>

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

Note

This alternative version of [new] function uses the following default values for its arguments:

• window_size: 5
• method: RgbdNormals::RGBD_NORMALS_METHOD_FALS

pub fn create( rows: i32, cols: i32, depth: i32, k: &impl ToInputArray, window_size: i32, method: i32, ) -> Result<Ptr<RgbdNormals>>

C++ default parameters

• window_size: 5
• method: RgbdNormals::RGBD_NORMALS_METHOD_FALS

pub fn create_def( rows: i32, cols: i32, depth: i32, k: &impl ToInputArray, ) -> Result<Ptr<RgbdNormals>>

Note

This alternative version of RgbdNormals::create function uses the following default values for its arguments:

• window_size: 5
• method: RgbdNormals::RGBD_NORMALS_METHOD_FALS

Trait Implementations

impl AlgorithmTrait for RgbdNormals

fn as_raw_mut_Algorithm(&mut self) -> *mut c_void

fn clear(&mut self) -> Result<()>

Clears the algorithm state

fn read(&mut self, fn_: &impl FileNodeTraitConst) -> Result<()>

Reads algorithm parameters from a file storage

impl AlgorithmTraitConst for RgbdNormals

fn as_raw_Algorithm(&self) -> *const c_void

fn write(&self, fs: &mut impl FileStorageTrait) -> Result<()>

Stores algorithm parameters in a file storage

fn write_1(&self, fs: &mut impl FileStorageTrait, name: &str) -> Result<()>

Stores algorithm parameters in a file storage

fn write_with_name(&self, fs: &Ptr<FileStorage>, name: &str) -> Result<()>

@deprecated

fn write_with_name_def(&self, fs: &Ptr<FileStorage>) -> Result<()>

👎Deprecated:

Note

Deprecated: ## Note This alternative version of AlgorithmTraitConst::write_with_name function uses the following default values for its arguments:

fn empty(&self) -> Result<bool>

Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read

fn save(&self, filename: &str) -> Result<()>

Saves the algorithm to a file. In order to make this method work, the derived class must implement Algorithm::write(FileStorage& fs).

fn get_default_name(&self) -> Result<String>

Returns the algorithm string identifier. This string is used as top level xml/yml node tag when the object is saved to a file or string.

impl Boxed for RgbdNormals

unsafe fn from_raw( ptr: <RgbdNormals as OpenCVFromExtern>::ExternReceive, ) -> Self

Wrap the specified raw pointer

fn into_raw(self) -> <RgbdNormals as OpenCVTypeExternContainer>::ExternSendMut

Return the underlying raw pointer while consuming this wrapper.

fn as_raw(&self) -> <RgbdNormals as OpenCVTypeExternContainer>::ExternSend

Return the underlying raw pointer.

fn as_raw_mut( &mut self, ) -> <RgbdNormals as OpenCVTypeExternContainer>::ExternSendMut

Return the underlying mutable raw pointer

impl Debug for RgbdNormals

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Drop for RgbdNormals

fn drop(&mut self)

Executes the destructor for this type.

impl From<RgbdNormals> for Algorithm

fn from(s: RgbdNormals) -> Self

Converts to this type from the input type.

impl RgbdNormalsTrait for RgbdNormals

fn as_raw_mut_RgbdNormals(&mut self) -> *mut c_void

fn set_rows(&mut self, val: i32) -> Result<()>

fn set_cols(&mut self, val: i32) -> Result<()>

fn set_window_size(&mut self, val: i32) -> Result<()>

fn set_depth(&mut self, val: i32) -> Result<()>

fn set_k(&mut self, val: &impl MatTraitConst) -> Result<()>

fn set_method(&mut self, val: i32) -> Result<()>

impl RgbdNormalsTraitConst for RgbdNormals

fn as_raw_RgbdNormals(&self) -> *const c_void

fn apply( &self, points: &impl ToInputArray, normals: &mut impl ToOutputArray, ) -> Result<()>

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

fn initialize(&self) -> Result<()>

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

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>

impl Send for RgbdNormals