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first commit. Interface for sinusoidal pattern profilometry has been added along with stubs functions in the implementation class. The new interface inherits from StructuredLightPattern
Added markers to sinusoidal patterns computePhaseMap for Fourier transform profilometry computePhaseMap for Fourier transform profilometry added phase map computation for PSP. Changed the maskDftRegion to frequencyFiltering. It uses regions of interest and can filter symmetrically. Also added computeShadowMask and computeDataModulationTerm changed formatting in structured light module. First commit for the phase unwrapping module. So far, pixel reliabilities are computed and edges are sorted in a histogram. Fixed an error in edges sorting. Added the unwrap histogram method. It computes the number of 2*Pi that has to be added to each pixel to unwrap the phase map added an example for phase unwrapping and a test that unwraps a simple phase map Added documentation draft and a small example that can generate sinusoidal patterns removed unnecessary include added a few comments in sinusoidalpattern.cpp and histogramphaseunwrapping.cpp. Removed some redudancy about mask in the reliability computation. Changed formatting projector calibration as a sample bug fix calibration + cap sinus example doc and tutorials modified calibration example fix for pr fix for pr shadow mask for FTP as in the reference paper changed doc added test for faps dummy commit fixing warnings in test changed test to use jpeg dummy changed permissions and used atan2(x,y) instead of atan dummy commit dummy setting dmt to zero near shadow mask border. It reduces noise bug fix in dmt computation dummy commit for build bots dummy commit for build bots
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AmbroiseMoreau
@@ -45,6 +45,7 @@
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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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#include "opencv2/structured_light/sinusoidalpattern.hpp"
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/** @defgroup structured_light Structured Light API
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@@ -0,0 +1,151 @@
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/*M///////////////////////////////////////////////////////////////////////////////////////
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// For Open Source Computer Vision Library
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//M*/
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#ifndef __OPENCV_SINUSOIDAL_PATTERN_HPP__
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#define __OPENCV_SINUSOIDAL_PATTERN_HPP__
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#include "opencv2/core.hpp"
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#include "opencv2/imgproc.hpp"
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#include "opencv2/structured_light/structured_light.hpp"
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#include <opencv2/phase_unwrapping.hpp>
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#include <opencv2/calib3d.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 sinusoidal pattern profilometry methods.
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enum{
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FTP = 0,
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PSP = 1,
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FAPS = 2
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};
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/**
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* @brief Class implementing Fourier transform profilometry (FTP) , phase-shifting profilometry (PSP)
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* and Fourier-assisted phase-shifting profilometry (FAPS) based on @cite faps.
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* This class generates sinusoidal patterns that can be used with FTP, PSP and FAPS.
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*/
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class CV_EXPORTS_W SinusoidalPattern : public StructuredLightPattern
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{
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public:
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/**
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* @brief Parameters of SinusoidalPattern constructor
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* @param width Projector's width.
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* @param height Projector's height.
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* @param nbrOfPeriods Number of period along the patterns direction.
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* @param shiftValue Phase shift between two consecutive patterns.
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* @param methodId Allow to choose between FTP, PSP and FAPS.
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* @param nbrOfPixelsBetweenMarkers Number of pixels between two consecutive markers on the same row.
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* @param setMarkers Allow to set markers on the patterns.
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* @param markersLocation vector used to store markers location on the patterns.
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*/
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struct CV_EXPORTS Params
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{
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Params();
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int width;
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int height;
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int nbrOfPeriods;
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float shiftValue;
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int methodId;
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int nbrOfPixelsBetweenMarkers;
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bool horizontal;
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bool setMarkers;
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std::vector<Point2f> markersLocation;
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};
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/**
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* @brief Constructor.
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* @param parameters SinusoidalPattern parameters SinusoidalPattern::Params: width, height of the projector and patterns parameters.
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*
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*/
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static Ptr<SinusoidalPattern> create( const SinusoidalPattern::Params ¶meters =
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SinusoidalPattern::Params() );
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/**
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* @brief Compute a wrapped phase map from sinusoidal patterns.
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* @param patternImages Input data to compute the wrapped phase map.
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* @param wrappedPhaseMap Wrapped phase map obtained through one of the three methods.
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* @param shadowMask Mask used to discard shadow regions.
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* @param fundamental Fundamental matrix used to compute epipolar lines and ease the matching step.
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*/
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CV_WRAP
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virtual void computePhaseMap( InputArrayOfArrays patternImages,
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OutputArray wrappedPhaseMap,
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OutputArray shadowMask = noArray(),
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InputArray fundamental = noArray()) = 0;
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/**
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* @brief Unwrap the wrapped phase map to remove phase ambiguities.
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* @param wrappedPhaseMap The wrapped phase map computed from the pattern.
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* @param unwrappedPhaseMap The unwrapped phase map used to find correspondences between the two devices.
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* @param camSize Resolution of the camera.
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* @param shadowMask Mask used to discard shadow regions.
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*/
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CV_WRAP
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virtual void unwrapPhaseMap( InputArrayOfArrays wrappedPhaseMap,
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OutputArray unwrappedPhaseMap,
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cv::Size camSize,
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InputArray shadowMask = noArray() ) = 0;
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/**
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* @brief Find correspondences between the two devices thanks to unwrapped phase maps.
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* @param projUnwrappedPhaseMap Projector's unwrapped phase map.
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* @param camUnwrappedPhaseMap Camera's unwrapped phase map.
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* @param matches Images used to display correspondences map.
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*/
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CV_WRAP
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virtual void findProCamMatches( InputArray projUnwrappedPhaseMap, InputArray camUnwrappedPhaseMap,
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OutputArrayOfArrays matches ) = 0;
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/**
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* @brief compute the data modulation term.
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* @param patternImages captured images with projected patterns.
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* @param dataModulationTerm Mat where the data modulation term is saved.
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* @param shadowMask Mask used to discard shadow regions.
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*/
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CV_WRAP
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virtual void computeDataModulationTerm( InputArrayOfArrays patternImages,
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OutputArray dataModulationTerm,
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InputArray shadowMask ) = 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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@@ -78,9 +78,10 @@ class CV_EXPORTS_W StructuredLightPattern : public virtual Algorithm
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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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virtual bool decode( InputArrayOfArrays patternImages, OutputArray disparityMap,
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InputArrayOfArrays blackImages = noArray(),
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InputArrayOfArrays whiteImages = noArray(),
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int flags = DECODE_3D_UNDERWORLD ) const = 0;
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};
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//! @}
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