基于法线找到边缘 [英] find the edge based on normals

问题描述

我有一个480 * 640的深度图像，我得到了这个深度图像的每个像素的法线（一个480 * 640 * 3的矩阵）。有谁知道如何根据正常的信息找到边缘？

非常感谢！

解决方案

深度图像中边缘的直观定义是表面法线远离观看者的地方。假设观察方向 [0 0 -1] （进入XY平面）任何具有几乎消失的 z 组件的法线可被表征为边缘。

  e = abs（depth（：，：，3））< 1e-3; ％//一个不错的起点
  

您需要根据您的数据设置阈值。 >

之后，您可以考虑应用一些非最大抑制或其他形态学清洁操作。

I have a 480*640 depth image, and I got the normals (a 480*640*3 matrix) of each pixel from this depth image. Does anyone know how could I find the edge based on the normal information?

Thanks a lot!

解决方案

An intuitive definition of an edge in a depth image is where the surface normal faces away from the viewer. Assuming a viewing direction [0 0 -1] (into the XY plane) any normal that has nearly vanishing z component can be characterized as an edge.

e = abs( depth(:,:,3) ) < 1e-3; %// a nice starting point

You need to set the threshold based on your data.

After that you might consider applying some non-maximal suppression or other morphological cleaning operations.

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