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!
find the edge based on normals
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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 vanishingzcomponent can be characterized as an edge.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.