OpenCVForUnity.PtcloudModule.RgbdNormals Class Reference

Public Member Functions
void	apply (Mat points, Mat normals)
void	cache ()
int	getCols ()
int	getDepth ()
void	getK (Mat val)
int	getMethod ()
IntPtr	getNativeObjAddr ()
int	getRows ()
int	getWindowSize ()
void	setCols (int val)
void	setK (Mat val)
void	setRows (int val)
void	setWindowSize (int val)
Public Member Functions inherited from OpenCVForUnity.DisposableObject
void	Dispose ()
	Releases resources used by this object.
void	ThrowIfDisposed ()
	Throws ObjectDisposedException if this object has been disposed.

Static Public Member Functions
static RgbdNormals	__fromPtr__ (IntPtr addr)
static RgbdNormals	create ()
static RgbdNormals	create (int rows)
static RgbdNormals	create (int rows, int cols)
static RgbdNormals	create (int rows, int cols, int depth)
static RgbdNormals	create (int rows, int cols, int depth, Mat K)
static RgbdNormals	create (int rows, int cols, int depth, Mat K, int window_size)
static RgbdNormals	create (int rows, int cols, int depth, Mat K, int window_size, float diff_threshold)
static RgbdNormals	create (int rows, int cols, int depth, Mat K, int window_size, float diff_threshold, int method)
Static Public Member Functions inherited from OpenCVForUnity.DisposableObject
static IntPtr	ThrowIfNullIntPtr (IntPtr ptr)
	Returns the native pointer, or throws CoreModule.CvException if it is zero.

Static Public Attributes
const int	RGBD_NORMALS_METHOD_CROSS_PRODUCT = 3
	C++: enum RgbdNormalsMethod (cv.RgbdNormals.RgbdNormalsMethod)
const int	RGBD_NORMALS_METHOD_FALS = 0
	C++: enum RgbdNormalsMethod (cv.RgbdNormals.RgbdNormalsMethod)
const int	RGBD_NORMALS_METHOD_LINEMOD = 1
	C++: enum RgbdNormalsMethod (cv.RgbdNormals.RgbdNormalsMethod)
const int	RGBD_NORMALS_METHOD_SRI = 2
	C++: enum RgbdNormalsMethod (cv.RgbdNormals.RgbdNormalsMethod)

Protected Member Functions
override void	Dispose (bool disposing)
Protected Member Functions inherited from OpenCVForUnity.DisposableOpenCVObject
	DisposableOpenCVObject ()
	Initializes a new instance with a zero native pointer and dispose enabled.
	DisposableOpenCVObject (bool isEnabledDispose)
	Initializes a new instance with a zero native pointer.
	DisposableOpenCVObject (IntPtr ptr)
	Initializes a new instance with the specified native pointer and dispose enabled.
	DisposableOpenCVObject (IntPtr ptr, bool isEnabledDispose)
	Initializes a new instance with the specified native pointer.
Protected Member Functions inherited from OpenCVForUnity.DisposableObject
	DisposableObject ()
	Initializes a new instance with dispose enabled.
	DisposableObject (bool isEnabledDispose)
	Initializes a new instance.

Additional Inherited Members
Package Attributes inherited from OpenCVForUnity.DisposableOpenCVObject
Properties inherited from OpenCVForUnity.DisposableObject
bool	IsDisposed [get, protected set]
bool	IsEnabledDispose [get, set]

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 Function Documentation

__fromPtr__()

static RgbdNormals OpenCVForUnity.PtcloudModule.RgbdNormals.__fromPtr__ ( IntPtr addr )

static

apply()

void OpenCVForUnity.PtcloudModule.RgbdNormals.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()

void OpenCVForUnity.PtcloudModule.RgbdNormals.cache

(

)

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

create() [1/8]

static RgbdNormals OpenCVForUnity.PtcloudModule.RgbdNormals.create ( )

static

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

create() [2/8]

static RgbdNormals OpenCVForUnity.PtcloudModule.RgbdNormals.create ( int rows )

static

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

create() [3/8]

static RgbdNormals OpenCVForUnity.PtcloudModule.RgbdNormals.create ( int rows, int cols )

static

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

create() [4/8]

static RgbdNormals OpenCVForUnity.PtcloudModule.RgbdNormals.create ( int rows, int cols, int depth )

static

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

create() [5/8]

static RgbdNormals OpenCVForUnity.PtcloudModule.RgbdNormals.create ( int rows, int cols, int depth, Mat K )

static

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

create() [6/8]

static RgbdNormals OpenCVForUnity.PtcloudModule.RgbdNormals.create ( int rows, int cols, int depth, Mat K, int window_size )

static

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

create() [7/8]

static RgbdNormals OpenCVForUnity.PtcloudModule.RgbdNormals.create ( int rows, int cols, int depth, Mat K, int window_size, float diff_threshold )

static

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

create() [8/8]

static RgbdNormals OpenCVForUnity.PtcloudModule.RgbdNormals.create ( int rows, int cols, int depth, Mat K, int window_size, float diff_threshold, int method )

static

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

Dispose()

override void OpenCVForUnity.PtcloudModule.RgbdNormals.Dispose ( bool disposing )

protectedvirtual

Reimplemented from OpenCVForUnity.DisposableOpenCVObject.

getCols()

int OpenCVForUnity.PtcloudModule.RgbdNormals.getCols

(

)

getDepth()

int OpenCVForUnity.PtcloudModule.RgbdNormals.getDepth

(

)

getK()

void OpenCVForUnity.PtcloudModule.RgbdNormals.getK

(

Mat

val

)

getMethod()

int OpenCVForUnity.PtcloudModule.RgbdNormals.getMethod

(

)

getNativeObjAddr()

IntPtr OpenCVForUnity.PtcloudModule.RgbdNormals.getNativeObjAddr

(

)

getRows()

int OpenCVForUnity.PtcloudModule.RgbdNormals.getRows

(

)

getWindowSize()

int OpenCVForUnity.PtcloudModule.RgbdNormals.getWindowSize

(

)

setCols()

void OpenCVForUnity.PtcloudModule.RgbdNormals.setCols

(

int

val

)

setK()

void OpenCVForUnity.PtcloudModule.RgbdNormals.setK

(

Mat

val

)

setRows()

void OpenCVForUnity.PtcloudModule.RgbdNormals.setRows

(

int

val

)

setWindowSize()

void OpenCVForUnity.PtcloudModule.RgbdNormals.setWindowSize

(

int

val

)

Member Data Documentation

RGBD_NORMALS_METHOD_CROSS_PRODUCT

const int OpenCVForUnity.PtcloudModule.RgbdNormals.RGBD_NORMALS_METHOD_CROSS_PRODUCT = 3

static

C++: enum RgbdNormalsMethod (cv.RgbdNormals.RgbdNormalsMethod)

RGBD_NORMALS_METHOD_FALS

const int OpenCVForUnity.PtcloudModule.RgbdNormals.RGBD_NORMALS_METHOD_FALS = 0

static

C++: enum RgbdNormalsMethod (cv.RgbdNormals.RgbdNormalsMethod)

RGBD_NORMALS_METHOD_LINEMOD

const int OpenCVForUnity.PtcloudModule.RgbdNormals.RGBD_NORMALS_METHOD_LINEMOD = 1

static

C++: enum RgbdNormalsMethod (cv.RgbdNormals.RgbdNormalsMethod)

RGBD_NORMALS_METHOD_SRI

const int OpenCVForUnity.PtcloudModule.RgbdNormals.RGBD_NORMALS_METHOD_SRI = 2

static

C++: enum RgbdNormalsMethod (cv.RgbdNormals.RgbdNormalsMethod)

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

• OpenCVForUnity/Assets/OpenCVForUnity/Scripts/Core/org/opencv/ptcloud/RgbdNormals.cs