Package org.opencv.structured_light
Class GrayCodePattern
java.lang.Object
org.opencv.core.Algorithm
org.opencv.structured_light.StructuredLightPattern
org.opencv.structured_light.GrayCodePattern
Class implementing the Gray-code pattern, based on CITE: UNDERWORLD.
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.
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Field Summary
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Constructor Summary
Constructors -
Method Summary
Modifier and TypeMethodDescriptionstatic GrayCodePattern
__fromPtr__
(long addr) static GrayCodePattern
create
(int width, int height) Constructorprotected void
finalize()
void
getImagesForShadowMasks
(Mat blackImage, Mat whiteImage) Generates the all-black and all-white images needed for shadowMasks computation.long
Get the number of pattern images needed for the graycode pattern.boolean
getProjPixel
(List<Mat> patternImages, int x, int y, Point projPix) For a (x,y) pixel of a camera returns the corresponding projector pixel.void
setBlackThreshold
(long value) Sets the value for black threshold, needed for decoding (shadowsmasks computation).void
setWhiteThreshold
(long value) Sets the value for white threshold, needed for decoding.Methods inherited from class org.opencv.structured_light.StructuredLightPattern
generate
Methods inherited from class org.opencv.core.Algorithm
clear, empty, getDefaultName, getNativeObjAddr, save
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Constructor Details
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GrayCodePattern
protected GrayCodePattern(long addr)
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Method Details
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__fromPtr__
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create
Constructor- Parameters:
width
- automatically generatedheight
- automatically generated- Returns:
- automatically generated
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getNumberOfPatternImages
public long getNumberOfPatternImages()Get the number of pattern images needed for the graycode pattern.- Returns:
- The number of pattern images needed for the graycode pattern.
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setWhiteThreshold
public void setWhiteThreshold(long 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.
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setBlackThreshold
public void setBlackThreshold(long 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.
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getImagesForShadowMasks
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.
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getProjPixel
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.- Returns:
- automatically generated
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finalize
- Overrides:
finalize
in classStructuredLightPattern
- Throws:
Throwable
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