Class implementing the Gray-code pattern, based on [78]. More...

#include "graycodepattern.hpp"

Inheritance diagram for cv::structured_light::GrayCodePattern:

Classes
struct	Params
	Parameters of StructuredLightPattern constructor. More...

Public Member Functions
virtual void	getImagesForShadowMasks (InputOutputArray blackImage, InputOutputArray whiteImage) const =0
	Generates the all-black and all-white images needed for shadowMasks computation. More...

virtual size_t	getNumberOfPatternImages () const =0
	Get the number of pattern images needed for the graycode pattern. More...

virtual bool	getProjPixel (InputArrayOfArrays patternImages, int x, int y, Point &projPix) const =0
	For a (x,y) pixel of a camera returns the corresponding projector pixel. More...

virtual void	setBlackThreshold (size_t value)=0
	Sets the value for black threshold, needed for decoding (shadowsmasks computation). More...

virtual void	setWhiteThreshold (size_t value)=0
	Sets the value for white threshold, needed for decoding. More...

Public Member Functions inherited from cv::structured_light::StructuredLightPattern
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
	Decodes the structured light pattern, generating a disparity map. More...

virtual bool	generate (OutputArrayOfArrays patternImages)=0
	Generates the structured light pattern to project. More...

Public Member Functions inherited from cv::Algorithm
	Algorithm ()

virtual	~Algorithm ()

virtual void	clear ()
	Clears the algorithm state. More...

virtual bool	empty () const
	Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read. More...

virtual String	getDefaultName () const

virtual void	read (const FileNode &fn)
	Reads algorithm parameters from a file storage. More...

virtual void	save (const String &filename) const

virtual void	write (FileStorage &fs) const
	Stores algorithm parameters in a file storage. More...

void	write (const Ptr< FileStorage > &fs, const String &name=String()) const
	simplified API for language bindings This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

Static Public Member Functions
static Ptr< GrayCodePattern >	create (const GrayCodePattern::Params &parameters=GrayCodePattern::Params())
	Constructor. More...

static Ptr< GrayCodePattern >	create (int width, int height)

Static Public Member Functions inherited from cv::Algorithm
template<typename _Tp >
static Ptr< _Tp >	load (const String &filename, const String &objname=String())
	Loads algorithm from the file. More...

template<typename _Tp >
static Ptr< _Tp >	loadFromString (const String &strModel, const String &objname=String())
	Loads algorithm from a String. More...

template<typename _Tp >
static Ptr< _Tp >	read (const FileNode &fn)
	Reads algorithm from the file node. More...

Additional Inherited Members
Protected Member Functions inherited from cv::Algorithm
void	writeFormat (FileStorage &fs) const

Detailed Description

Class implementing the Gray-code pattern, based on [78].

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.

Member Function Documentation

§ create() [1/2]

static Ptr<GrayCodePattern> cv::structured_light::GrayCodePattern::create ( const GrayCodePattern::Params & parameters = GrayCodePattern::Params() )

static

Python:
	retval	=	cv.structured_light.GrayCodePattern_create(	width, height	)

Constructor.

Parameters

parameters GrayCodePattern parameters GrayCodePattern::Params: the width and the height of the projector.

§ create() [2/2]

static Ptr<GrayCodePattern> cv::structured_light::GrayCodePattern::create	(	int	width,
		int	height
	)

static

Python:
	retval	=	cv.structured_light.GrayCodePattern_create(	width, height	)

§ getImagesForShadowMasks()

virtual void cv::structured_light::GrayCodePattern::getImagesForShadowMasks	(	InputOutputArray	blackImage,
		InputOutputArray	whiteImage
	)		const

pure virtual

Python:
	blackImage, whiteImage	=	cv.structured_light_GrayCodePattern.getImagesForShadowMasks(	blackImage, whiteImage	)

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.

Parameters

blackImage	The generated all-black CV_8U image, at projector's resolution.
whiteImage	The generated all-white CV_8U image, at projector's resolution.

§ getNumberOfPatternImages()

virtual size_t cv::structured_light::GrayCodePattern::getNumberOfPatternImages ( ) const

pure virtual

Python:
	retval	=	cv.structured_light_GrayCodePattern.getNumberOfPatternImages(		)

Get the number of pattern images needed for the graycode pattern.

Returns: The number of pattern images needed for the graycode pattern.

§ getProjPixel()

virtual bool cv::structured_light::GrayCodePattern::getProjPixel	(	InputArrayOfArrays	patternImages,
		int	x,
		int	y,
		Point &	projPix
	)		const

pure virtual

Python:
	retval	=	cv.structured_light_GrayCodePattern.getProjPixel(	patternImages, x, y, projPix	)

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.

Parameters

patternImages	The pattern images acquired by the camera, stored in a grayscale vector < Mat >.
x	x coordinate of the image pixel.
y	y coordinate of the image pixel.
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.

§ setBlackThreshold()

virtual void cv::structured_light::GrayCodePattern::setBlackThreshold ( size_t value )

pure virtual

Python:
	None	=	cv.structured_light_GrayCodePattern.setBlackThreshold(	value	)

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.

Parameters

value The desired black threshold value.

§ setWhiteThreshold()

virtual void cv::structured_light::GrayCodePattern::setWhiteThreshold ( size_t value )

pure virtual

Python:
	None	=	cv.structured_light_GrayCodePattern.setWhiteThreshold(	value	)

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.

Parameters

value The desired white threshold value.

The documentation for this class was generated from the following file:

/build/master-contrib_docs-lin64/opencv_contrib/modules/structured_light/include/opencv2/structured_light/graycodepattern.hpp

Classes

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

§ create() [1/2]

§ create() [2/2]

§ getImagesForShadowMasks()

§ getNumberOfPatternImages()

§ getProjPixel()

§ setBlackThreshold()

§ setWhiteThreshold()