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diff --git a/thirdparty1/linux/include/opencv2/structured_light/graycodepattern.hpp b/thirdparty1/linux/include/opencv2/structured_light/graycodepattern.hpp
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+/*M///////////////////////////////////////////////////////////////////////////////////////
+ //
+ //  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+ //
+ //  By downloading, copying, installing or using the software you agree to this license.
+ //  If you do not agree to this license, do not download, install,
+ //  copy or use the software.
+ //
+ //
+ //                           License Agreement
+ //                For Open Source Computer Vision Library
+ //
+ // Copyright (C) 2015, OpenCV Foundation, all rights reserved.
+ // Third party copyrights are property of their respective owners.
+ //
+ // Redistribution and use in source and binary forms, with or without modification,
+ // are permitted provided that the following conditions are met:
+ //
+ //   * Redistribution's of source code must retain the above copyright notice,
+ //     this list of conditions and the following disclaimer.
+ //
+ //   * Redistribution's in binary form must reproduce the above copyright notice,
+ //     this list of conditions and the following disclaimer in the documentation
+ //     and/or other materials provided with the distribution.
+ //
+ //   * The name of the copyright holders may not be used to endorse or promote products
+ //     derived from this software without specific prior written permission.
+ //
+ // This software is provided by the copyright holders and contributors "as is" and
+ // any express or implied warranties, including, but not limited to, the implied
+ // warranties of merchantability and fitness for a particular purpose are disclaimed.
+ // In no event shall the Intel Corporation or contributors be liable for any direct,
+ // indirect, incidental, special, exemplary, or consequential damages
+ // (including, but not limited to, procurement of substitute goods or services;
+ // loss of use, data, or profits; or business interruption) however caused
+ // and on any theory of liability, whether in contract, strict liability,
+ // or tort (including negligence or otherwise) arising in any way out of
+ // the use of this software, even if advised of the possibility of such damage.
+ //
+ //M*/
+
+#ifndef __OPENCV_GRAY_CODE_PATTERN_HPP__
+#define __OPENCV_GRAY_CODE_PATTERN_HPP__
+
+#include "opencv2/core.hpp"
+#include "opencv2/structured_light/structured_light.hpp"
+
+namespace cv {
+namespace structured_light {
+//! @addtogroup structured_light
+//! @{
+
+/** @brief Class implementing the Gray-code pattern, based on @cite UNDERWORLD.
+ *
+ *  The generation of the pattern images is performed with Gray encoding using the traditional white and black colors.
+ *
+ *  The information about the two image axes x, y is encoded separately into two different pattern sequences.
+ *  A projector P with resolution (P_res_x, P_res_y) will result in Ncols = log 2 (P_res_x) encoded pattern images representing the columns, and
+ *  in Nrows = log 2 (P_res_y) encoded pattern images representing the rows.
+ *  For example a projector with resolution 1024x768 will result in Ncols = 10 and Nrows = 10.
+
+ *  However, the generated pattern sequence consists of both regular color and color-inverted images: inverted pattern images are images
+ *  with the same structure as the original but with inverted colors.
+ *  This provides an effective method for easily determining the intensity value of each pixel when it is lit (highest value) and
+ *  when it is not lit (lowest value). So for a a projector with resolution 1024x768, the number of pattern images will be Ncols * 2 + Nrows * 2 = 40.
+ *
+ */
+class CV_EXPORTS_W GrayCodePattern : public StructuredLightPattern
+{
+ public:
+
+  /** @brief Parameters of StructuredLightPattern constructor.
+   *  @param width Projector's width. Default value is 1024.
+   *  @param height Projector's height. Default value is 768.
+   */
+  struct CV_EXPORTS Params
+  {
+    Params();
+    int width;
+    int height;
+  };
+
+  /** @brief Constructor
+   @param parameters GrayCodePattern parameters GrayCodePattern::Params: the width and the height of the projector.
+   */
+  static Ptr<GrayCodePattern> create( const GrayCodePattern::Params &parameters = GrayCodePattern::Params() );
+
+  // alias for scripting
+  CV_WRAP
+  static Ptr<GrayCodePattern> create( int width, int height );
+
+  /** @brief Get the number of pattern images needed for the graycode pattern.
+   *
+   * @return The number of pattern images needed for the graycode pattern.
+   *
+   */
+   CV_WRAP
+   virtual size_t getNumberOfPatternImages() const = 0;
+
+  /** @brief Sets the value for white threshold, needed for decoding.
+   *
+   *  White threshold is a number between 0-255 that represents the minimum brightness difference required for valid pixels, between the graycode pattern and its inverse images; used in getProjPixel method.
+   *
+   *  @param value The desired white threshold value.
+   *
+   */
+  CV_WRAP
+  virtual void setWhiteThreshold( size_t value ) = 0;
+
+  /** @brief Sets the value for black threshold, needed for decoding (shadowsmasks computation).
+   *
+   *  Black threshold is a number between 0-255 that represents the minimum brightness difference required for valid pixels, between the fully illuminated (white) and the not illuminated images (black); used in computeShadowMasks method.
+   *
+   *  @param value The desired black threshold value.
+   *
+   */
+  CV_WRAP
+  virtual void setBlackThreshold( size_t value ) = 0;
+
+  /** @brief Generates the all-black and all-white images needed for shadowMasks computation.
+   *
+   *  To identify shadow regions, the regions of two images where the pixels are not lit by projector's light and thus where there is not coded information,
+   *  the 3DUNDERWORLD algorithm computes a shadow mask for the two cameras views, starting from a white and a black images captured by each camera.
+   *  This method generates these two additional images to project.
+   *
+   *  @param blackImage The generated all-black CV_8U image, at projector's resolution.
+   *  @param whiteImage The generated all-white CV_8U image, at projector's resolution.
+   */
+  CV_WRAP
+  virtual void getImagesForShadowMasks( InputOutputArray blackImage, InputOutputArray whiteImage ) const = 0;
+
+  /** @brief For a (x,y) pixel of a camera returns the corresponding projector pixel.
+   *
+   *  The function decodes each pixel in the pattern images acquired by a camera into their corresponding decimal numbers representing the projector's column and row,
+   *  providing a mapping between camera's and projector's pixel.
+   *
+   *  @param patternImages The pattern images acquired by the camera, stored in a grayscale vector < Mat >.
+   *  @param x x coordinate of the image pixel.
+   *  @param y y coordinate of the image pixel.
+   *  @param projPix Projector's pixel corresponding to the camera's pixel: projPix.x and projPix.y are the image coordinates of the projector’s pixel corresponding to the pixel being decoded in a camera.
+   */
+  CV_WRAP
+  virtual bool getProjPixel( InputArrayOfArrays patternImages, int x, int y, Point &projPix ) const = 0;
+};
+
+//! @}
+}
+}
+#endif
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diff --git a/thirdparty1/linux/include/opencv2/structured_light/sinusoidalpattern.hpp b/thirdparty1/linux/include/opencv2/structured_light/sinusoidalpattern.hpp
new file mode 100644
index 0000000..c4549f5
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+++ b/thirdparty1/linux/include/opencv2/structured_light/sinusoidalpattern.hpp
@@ -0,0 +1,151 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2015, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_SINUSOIDAL_PATTERN_HPP__
+#define __OPENCV_SINUSOIDAL_PATTERN_HPP__
+
+#include "opencv2/core.hpp"
+#include "opencv2/imgproc.hpp"
+#include "opencv2/structured_light/structured_light.hpp"
+#include <opencv2/phase_unwrapping.hpp>
+#include <opencv2/calib3d.hpp>
+
+namespace cv {
+namespace structured_light {
+//! @addtogroup structured_light
+//! @{
+
+ //! Type of sinusoidal pattern profilometry methods.
+enum{
+  FTP = 0,
+  PSP = 1,
+  FAPS = 2
+ };
+/**
+ * @brief Class implementing Fourier transform profilometry (FTP) , phase-shifting profilometry (PSP)
+ * and Fourier-assisted phase-shifting profilometry (FAPS) based on @cite faps.
+
+ * This class generates sinusoidal patterns that can be used with FTP, PSP and FAPS.
+*/
+class CV_EXPORTS_W SinusoidalPattern : public StructuredLightPattern
+{
+public:
+    /**
+     * @brief Parameters of SinusoidalPattern constructor
+     * @param width Projector's width.
+     * @param height Projector's height.
+     * @param nbrOfPeriods Number of period along the patterns direction.
+     * @param shiftValue Phase shift between two consecutive patterns.
+     * @param methodId Allow to choose between FTP, PSP and FAPS.
+     * @param nbrOfPixelsBetweenMarkers Number of pixels between two consecutive markers on the same row.
+     * @param setMarkers Allow to set markers on the patterns.
+     * @param markersLocation vector used to store markers location on the patterns.
+     */
+    struct CV_EXPORTS Params
+    {
+        Params();
+        int width;
+        int height;
+        int nbrOfPeriods;
+        float shiftValue;
+        int methodId;
+        int nbrOfPixelsBetweenMarkers;
+        bool horizontal;
+        bool setMarkers;
+        std::vector<Point2f> markersLocation;
+    };
+    /**
+     * @brief Constructor.
+     * @param parameters SinusoidalPattern parameters SinusoidalPattern::Params: width, height of the projector and patterns parameters.
+     *
+     */
+    static Ptr<SinusoidalPattern> create( const SinusoidalPattern::Params &parameters =
+                                          SinusoidalPattern::Params() );
+    /**
+     * @brief Compute a wrapped phase map from sinusoidal patterns.
+     * @param patternImages Input data to compute the wrapped phase map.
+     * @param wrappedPhaseMap Wrapped phase map obtained through one of the three methods.
+     * @param shadowMask Mask used to discard shadow regions.
+     * @param fundamental Fundamental matrix used to compute epipolar lines and ease the matching step.
+     */
+    CV_WRAP
+    virtual void computePhaseMap( InputArrayOfArrays patternImages,
+                                  OutputArray wrappedPhaseMap,
+                                  OutputArray shadowMask = noArray(),
+                                  InputArray fundamental = noArray()) = 0;
+    /**
+     * @brief Unwrap the wrapped phase map to remove phase ambiguities.
+     * @param wrappedPhaseMap The wrapped phase map computed from the pattern.
+     * @param unwrappedPhaseMap The unwrapped phase map used to find correspondences between the two devices.
+     * @param camSize Resolution of the camera.
+     * @param shadowMask Mask used to discard shadow regions.
+     */
+    CV_WRAP
+    virtual void unwrapPhaseMap( InputArrayOfArrays wrappedPhaseMap,
+                                 OutputArray unwrappedPhaseMap,
+                                 cv::Size camSize,
+                                 InputArray shadowMask = noArray() ) = 0;
+    /**
+     * @brief Find correspondences between the two devices thanks to unwrapped phase maps.
+     * @param projUnwrappedPhaseMap Projector's unwrapped phase map.
+     * @param camUnwrappedPhaseMap Camera's unwrapped phase map.
+     * @param matches Images used to display correspondences map.
+     */
+    CV_WRAP
+    virtual void findProCamMatches( InputArray projUnwrappedPhaseMap, InputArray camUnwrappedPhaseMap,
+                                    OutputArrayOfArrays matches ) = 0;
+
+    /**
+     * @brief compute the data modulation term.
+     * @param patternImages captured images with projected patterns.
+     * @param dataModulationTerm Mat where the data modulation term is saved.
+     * @param shadowMask Mask used to discard shadow regions.
+     */
+    CV_WRAP
+    virtual void computeDataModulationTerm( InputArrayOfArrays patternImages,
+                                            OutputArray dataModulationTerm,
+                                            InputArray shadowMask ) = 0;
+
+};
+//! @}
+}
+}
+#endif
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diff --git a/thirdparty1/linux/include/opencv2/structured_light/structured_light.hpp b/thirdparty1/linux/include/opencv2/structured_light/structured_light.hpp
new file mode 100644
index 0000000..a970c41
--- /dev/null
+++ b/thirdparty1/linux/include/opencv2/structured_light/structured_light.hpp
@@ -0,0 +1,91 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+ //
+ //  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+ //
+ //  By downloading, copying, installing or using the software you agree to this license.
+ //  If you do not agree to this license, do not download, install,
+ //  copy or use the software.
+ //
+ //
+ //                           License Agreement
+ //                For Open Source Computer Vision Library
+ //
+ // Copyright (C) 2015, OpenCV Foundation, all rights reserved.
+ // Third party copyrights are property of their respective owners.
+ //
+ // Redistribution and use in source and binary forms, with or without modification,
+ // are permitted provided that the following conditions are met:
+ //
+ //   * Redistribution's of source code must retain the above copyright notice,
+ //     this list of conditions and the following disclaimer.
+ //
+ //   * Redistribution's in binary form must reproduce the above copyright notice,
+ //     this list of conditions and the following disclaimer in the documentation
+ //     and/or other materials provided with the distribution.
+ //
+ //   * The name of the copyright holders may not be used to endorse or promote products
+ //     derived from this software without specific prior written permission.
+ //
+ // This software is provided by the copyright holders and contributors "as is" and
+ // any express or implied warranties, including, but not limited to, the implied
+ // warranties of merchantability and fitness for a particular purpose are disclaimed.
+ // In no event shall the Intel Corporation or contributors be liable for any direct,
+ // indirect, incidental, special, exemplary, or consequential damages
+ // (including, but not limited to, procurement of substitute goods or services;
+ // loss of use, data, or profits; or business interruption) however caused
+ // and on any theory of liability, whether in contract, strict liability,
+ // or tort (including negligence or otherwise) arising in any way out of
+ // the use of this software, even if advised of the possibility of such damage.
+ //
+ //M*/
+
+#ifndef __OPENCV_STRUCTURED_LIGHT_HPP__
+#define __OPENCV_STRUCTURED_LIGHT_HPP__
+
+#include "opencv2/core.hpp"
+
+namespace cv {
+namespace structured_light {
+//! @addtogroup structured_light
+//! @{
+
+//! Type of the decoding algorithm
+// other algorithms can be implemented
+enum
+{
+  DECODE_3D_UNDERWORLD = 0  //!< Kyriakos Herakleous, Charalambos Poullis. “3DUNDERWORLD-SLS: An Open-Source Structured-Light Scanning System for Rapid Geometry Acquisition”, arXiv preprint arXiv:1406.6595 (2014).
+};
+
+/** @brief Abstract base class for generating and decoding structured light patterns.
+ */
+class CV_EXPORTS_W StructuredLightPattern : public virtual Algorithm
+{
+ public:
+  /** @brief Generates the structured light pattern to project.
+
+   @param patternImages The generated pattern: a vector<Mat>, in which each image is a CV_8U Mat at projector's resolution.
+   */
+  CV_WRAP
+  virtual bool generate( OutputArrayOfArrays patternImages ) = 0;
+
+  /** @brief Decodes the structured light pattern, generating a disparity map
+
+   @param patternImages The acquired pattern images to decode (vector<vector<Mat>>), loaded as grayscale and previously rectified.
+   @param disparityMap The decoding result: a CV_64F Mat at image resolution, storing the computed disparity map.
+   @param blackImages The all-black images needed for shadowMasks computation.
+   @param whiteImages The all-white images needed for shadowMasks computation.
+   @param flags Flags setting decoding algorithms. Default: DECODE_3D_UNDERWORLD.
+   @note All the images must be at the same resolution.
+   */
+  CV_WRAP
+  virtual bool decode( InputArrayOfArrays patternImages, OutputArray disparityMap,
+                       InputArrayOfArrays blackImages = noArray(),
+                       InputArrayOfArrays whiteImages = noArray(),
+                       int flags = DECODE_3D_UNDERWORLD ) const = 0;
+};
+
+//! @}
+
+}
+}
+#endif
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