vendor: OpenCV 5.0.0 snapshot at 755e50675d97db9b7d449d8bd6b09888646f6c6e
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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*/
|
||||
|
||||
/*#ifdef __OPENCV_BUILD
|
||||
#error this is a compatibility header which should not be used inside the OpenCV library
|
||||
#endif*/
|
||||
|
||||
#include "opencv2/structured_light/structured_light.hpp"
|
||||
#include "opencv2/structured_light/graycodepattern.hpp"
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||||
#include "opencv2/structured_light/sinusoidalpattern.hpp"
|
||||
|
||||
/** @defgroup structured_light Structured Light API
|
||||
|
||||
Structured light is considered one of the most effective techniques to acquire 3D models.
|
||||
This technique is based on projecting a light pattern and capturing the illuminated scene
|
||||
from one or more points of view. Since the pattern is coded, correspondences between image
|
||||
points and points of the projected pattern can be quickly found and 3D information easily
|
||||
retrieved.
|
||||
|
||||
One of the most commonly exploited coding strategies is based on trmatime-multiplexing. In this
|
||||
case, a set of patterns are successively projected onto the measuring surface.
|
||||
The codeword for a given pixel is usually formed by the sequence of illuminance values for that
|
||||
pixel across the projected patterns. Thus, the codification is called temporal because the bits
|
||||
of the codewords are multiplexed in time @cite pattern .
|
||||
|
||||
In this module a time-multiplexing coding strategy based on Gray encoding is implemented following the
|
||||
(stereo) approach described in 3DUNDERWORLD algorithm @cite UNDERWORLD .
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||||
For more details, see @ref tutorial_structured_light.
|
||||
|
||||
*/
|
||||
@@ -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"
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||||
#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.
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||||
*
|
||||
* 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
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||||
* 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, CV_OUT Point &projPix ) const = 0;
|
||||
};
|
||||
|
||||
//! @}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
@@ -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/geometry.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_W Params
|
||||
{
|
||||
CV_WRAP Params();
|
||||
CV_PROP_RW int width;
|
||||
CV_PROP_RW int height;
|
||||
CV_PROP_RW int nbrOfPeriods;
|
||||
CV_PROP_RW float shiftValue;
|
||||
CV_PROP_RW int methodId;
|
||||
CV_PROP_RW int nbrOfPixelsBetweenMarkers;
|
||||
CV_PROP_RW bool horizontal;
|
||||
CV_PROP_RW bool setMarkers;
|
||||
std::vector<Point2f> markersLocation;
|
||||
};
|
||||
/**
|
||||
* @brief Constructor.
|
||||
* @param parameters SinusoidalPattern parameters SinusoidalPattern::Params: width, height of the projector and patterns parameters.
|
||||
*
|
||||
*/
|
||||
CV_WRAP static Ptr<SinusoidalPattern> create( Ptr<SinusoidalPattern::Params> parameters =
|
||||
makePtr<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( InputArray 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
|
||||
@@ -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( const std::vector< std::vector<Mat> >& patternImages, OutputArray disparityMap,
|
||||
InputArrayOfArrays blackImages = noArray(),
|
||||
InputArrayOfArrays whiteImages = noArray(),
|
||||
int flags = DECODE_3D_UNDERWORLD ) const = 0;
|
||||
};
|
||||
|
||||
//! @}
|
||||
|
||||
}
|
||||
}
|
||||
#endif
|
||||
Reference in New Issue
Block a user