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Diffstat (limited to 'thirdparty1/linux/include/opencv2/structured_light')
3 files changed, 391 insertions, 0 deletions
diff --git a/thirdparty1/linux/include/opencv2/structured_light/graycodepattern.hpp b/thirdparty1/linux/include/opencv2/structured_light/graycodepattern.hpp new file mode 100644 index 0000000..55b39af --- /dev/null +++ b/thirdparty1/linux/include/opencv2/structured_light/graycodepattern.hpp @@ -0,0 +1,149 @@ +/*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 ¶meters = 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
\ No newline at end of file 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 --- /dev/null +++ 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 ¶meters = + 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
\ No newline at end of file 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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