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Added structured_light module
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RobertaRavanelli
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2015, OpenCV Foundation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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/*#ifdef __OPENCV_BUILD
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#error this is a compatibility header which should not be used inside the OpenCV library
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#endif*/
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#include "opencv2/structured_light/structured_light.hpp"
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#include "opencv2/structured_light/graycodepattern.hpp"
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/** @defgroup structured_light Structured Light API
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Structured light is considered one of the most effective techniques to acquire 3D models.
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This technique is based on projecting a light pattern and capturing the illuminated scene
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from one or more points of view. Since the pattern is coded, correspondences between image
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points and points of the projected pattern can be quickly found and 3D information easily
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retrieved.
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One of the most commonly exploited coding strategies is based on trmatime-multiplexing. In this
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case, a set of patterns are successively projected onto the measuring surface.
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The codeword for a given pixel is usually formed by the sequence of illuminance values for that
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pixel across the projected patterns. Thus, the codification is called temporal because the bits
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of the codewords are multiplexed in time @cite pattern .
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In this module a time-multiplexing coding strategy based on Gray encoding is implemented following the
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(stereo) approach described in 3DUNDERWORLD algorithm @cite UNDERWORLD .
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For more details, see @ref tutorial_structured_light.
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*/
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2015, OpenCV Foundation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
|
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
|
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_GRAY_CODE_PATTERN_HPP__
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#define __OPENCV_GRAY_CODE_PATTERN_HPP__
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#include "opencv2/core.hpp"
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namespace cv {
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namespace structured_light {
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//! @addtogroup structured_light
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//! @{
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/** @brief Class implementing the Gray-code pattern, based on @cite UNDERWORLD.
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*
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* The generation of the pattern images is performed with Gray encoding using the traditional white and black colors.
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*
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* The information about the two image axes x, y is encoded separately into two different pattern sequences.
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* 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.
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* For example a projector with resolution 1024x768 will result in Ncols = 10 and Nrows = 10.
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* However, the generated pattern sequence consists of both regular color and color-inverted images: inverted pattern images are images
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* with the same structure as the original but with inverted colors.
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* This provides an effective method for easily determining the intensity value of each pixel when it is lit (highest value) and
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* 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.
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*
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*/
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class CV_EXPORTS_W GrayCodePattern : public StructuredLightPattern
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{
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public:
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/** @brief Parameters of StructuredLightPattern constructor.
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* @param width Projector's width. Default value is 1024.
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* @param height Projector's height. Default value is 768.
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*/
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struct CV_EXPORTS_W_SIMPLE Params
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{
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CV_WRAP
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Params();
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CV_PROP_RW
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int width;
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CV_PROP_RW
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int height;
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};
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/** @brief Constructor
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@param parameters GrayCodePattern parameters GrayCodePattern::Params: the width and the height of the projector.
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*/
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CV_WRAP
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static Ptr<GrayCodePattern> create( const GrayCodePattern::Params ¶meters = GrayCodePattern::Params() );
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/** @brief Get the number of pattern images needed for the graycode pattern.
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*
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* @return The number of pattern images needed for the graycode pattern.
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*
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*/
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CV_WRAP
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virtual size_t getNumberOfPatternImages() const = 0;
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/** @brief Sets the value for white threshold, needed for decoding.
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*
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* 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.
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*
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* @param value The desired white threshold value.
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*
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*/
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CV_WRAP
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virtual void setWhiteThreshold( size_t value ) = 0;
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/** @brief Sets the value for black threshold, needed for decoding (shadowsmasks computation).
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*
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* 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.
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*
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* @param value The desired black threshold value.
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*
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*/
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CV_WRAP
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virtual void setBlackThreshold( size_t value ) = 0;
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/** @brief Generates the all-black and all-white images needed for shadowMasks computation.
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*
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* 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,
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* the 3DUNDERWORLD algorithm computes a shadow mask for the two cameras views, starting from a white and a black images captured by each camera.
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* This method generates these two additional images to project.
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*
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* @param blackImage The generated all-black CV_8U image, at projector's resolution.
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* @param whiteImage The generated all-white CV_8U image, at projector's resolution.
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*/
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CV_WRAP
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virtual void getImagesForShadowMasks( InputOutputArray blackImage, InputOutputArray whiteImage ) const = 0;
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/** @brief For a (x,y) pixel of a camera returns the corresponding projector pixel.
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*
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* 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,
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* providing a mapping between camera's and projector's pixel.
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*
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* @param patternImages The pattern images acquired by the camera, stored in a grayscale vector < Mat >.
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* @param x x coordinate of the image pixel.
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* @param y y coordinate of the image pixel.
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* @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.
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*/
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CV_WRAP
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virtual bool getProjPixel( InputArrayOfArrays patternImages, int x, int y, Point &projPix ) const = 0;
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};
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//! @}
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}
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}
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#endif
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@@ -0,0 +1,90 @@
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
|
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// If you do not agree to this license, do not download, install,
|
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// copy or use the software.
|
||||
//
|
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2015, OpenCV Foundation, all rights reserved.
|
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
|
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// are permitted provided that the following conditions are met:
|
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//
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// * Redistribution's of source code must retain the above copyright notice,
|
||||
// this list of conditions and the following disclaimer.
|
||||
//
|
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// * Redistribution's in binary form must reproduce the above copyright notice,
|
||||
// this list of conditions and the following disclaimer in the documentation
|
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// and/or other materials provided with the distribution.
|
||||
//
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// * The name of the copyright holders may not be used to endorse or promote products
|
||||
// derived from this software without specific prior written permission.
|
||||
//
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// 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
|
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// the use of this software, even if advised of the possibility of such damage.
|
||||
//
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//M*/
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#ifndef __OPENCV_STRUCTURED_LIGHT_HPP__
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#define __OPENCV_STRUCTURED_LIGHT_HPP__
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#include "opencv2/core.hpp"
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namespace cv {
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namespace structured_light {
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//! @addtogroup structured_light
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//! @{
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//! Type of the decoding algorithm
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// other algorithms can be implemented
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enum
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{
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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).
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};
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/** @brief Abstract base class for generating and decoding structured light patterns.
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*/
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class CV_EXPORTS_W StructuredLightPattern : public virtual Algorithm
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{
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public:
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/** @brief Generates the structured light pattern to project.
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@param patternImages The generated pattern: a vector<Mat>, in which each image is a CV_8U Mat at projector's resolution.
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*/
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CV_WRAP
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virtual bool generate( OutputArrayOfArrays patternImages ) = 0;
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/** @brief Decodes the structured light pattern, generating a disparity map
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@param patternImages The acquired pattern images to decode (vector<vector<Mat>>), loaded as grayscale and previously rectified.
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@param disparityMap The decoding result: a CV_64F Mat at image resolution, storing the computed disparity map.
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@param blackImages The all-black images needed for shadowMasks computation.
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@param whiteImages The all-white images needed for shadowMasks computation.
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@param flags Flags setting decoding algorithms. Default: DECODE_3D_UNDERWORLD.
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@note All the images must be at the same resolution.
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*/
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CV_WRAP
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virtual bool decode( InputArrayOfArrays patternImages, OutputArray disparityMap, InputArrayOfArrays blackImages =
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noArray(),
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InputArrayOfArrays whiteImages = noArray(), int flags = DECODE_3D_UNDERWORLD ) const = 0;
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};
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//! @}
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}
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}
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#endif
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