cv::structured_light::GrayCodePattern Class Reference

Class implementing the Gray-code pattern, based on [124]. More...

#include <opencv2/structured_light/graycodepattern.hpp>

Collaboration 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.
virtual size_t	getNumberOfPatternImages () const =0
	Get the number of pattern images needed for the graycode pattern.
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.
virtual void	setBlackThreshold (size_t value)=0
	Sets the value for black threshold, needed for decoding (shadowsmasks computation).
virtual void	setWhiteThreshold (size_t value)=0
	Sets the value for white threshold, needed for decoding.
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.
virtual bool	generate (OutputArrayOfArrays patternImages)=0
	Generates the structured light pattern to project.
Public Member Functions inherited from cv::Algorithm
	Algorithm ()
virtual	~Algorithm ()
virtual void	clear ()
	Clears the algorithm state.
virtual bool	empty () const
	Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read.
virtual String	getDefaultName () const
virtual void	read (const FileNode &fn)
	Reads algorithm parameters from a file storage.
virtual void	save (const String &filename) const
void	write (const Ptr< FileStorage > &fs, const String &name=String()) const
virtual void	write (FileStorage &fs) const
	Stores algorithm parameters in a file storage.
void	write (FileStorage &fs, const String &name) const

Static Public Member Functions
static Ptr< GrayCodePattern >	create (const GrayCodePattern::Params &parameters=GrayCodePattern::Params())
	Constructor.
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.
template<typename _Tp >
static Ptr< _Tp >	loadFromString (const String &strModel, const String &objname=String())
	Loads algorithm from a String.
template<typename _Tp >
static Ptr< _Tp >	read (const FileNode &fn)
	Reads algorithm from the file node.

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 [124].

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:
	cv.structured_light.GrayCodePattern.create(	width, height	) ->	retval
	cv.structured_light.GrayCodePattern_create(	width, height	) ->	retval

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:
	cv.structured_light.GrayCodePattern.create(	width, height	) ->	retval
	cv.structured_light.GrayCodePattern_create(	width, height	) ->	retval

getImagesForShadowMasks()

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

pure virtual

Python:
	cv.structured_light.GrayCodePattern.getImagesForShadowMasks(	blackImage, whiteImage	) ->	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:
	cv.structured_light.GrayCodePattern.getNumberOfPatternImages(		) ->	retval

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:
	cv.structured_light.GrayCodePattern.getProjPixel(	patternImages, x, y	) ->	retval, 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:
	cv.structured_light.GrayCodePattern.setBlackThreshold(	value	) ->	None

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:
	cv.structured_light.GrayCodePattern.setWhiteThreshold(	value	) ->	None

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.

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

• opencv2/structured_light/graycodepattern.hpp