opencv - find curvature at depth map -

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i want find curvature @ depth map @ picture

enter image description here enter image description here

this example of curvature maybe if represent image function , take second derivative can find curvatures. couldn't implement it. (i tryed sobel operator opencv)

is there way out?

ps sorry writing mistakes. english in not native language.

that not depth map, point cloud (but assume generated 1 single depth map z = f(x,y).

what curvature want estimate? mean, gaussian, whole 2nd fundamental form? see, e.g. here definitions. here's recent reference on fast estimation methods:


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