337 lines
13 KiB
C++
337 lines
13 KiB
C++
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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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#include <opencv2/highgui.hpp>
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#include <vector>
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#include <iostream>
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#include <fstream>
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#include <opencv2/core.hpp>
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#include <opencv2/core/utility.hpp>
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#include <opencv2/imgproc.hpp>
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#include <opencv2/calib3d.hpp>
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#include <opencv2/structured_light.hpp>
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#include <opencv2/phase_unwrapping.hpp>
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using namespace cv;
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using namespace std;
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static const char* keys =
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{
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"{@width | | Projector width}"
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"{@height | | Projector height}"
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"{@periods | | Number of periods}"
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"{@setMarkers | | Patterns with or without markers}"
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"{@horizontal | | Patterns are horizontal}"
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"{@methodId | | Method to be used}"
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"{@outputPatternPath | | Path to save patterns}"
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"{@outputWrappedPhasePath | | Path to save wrapped phase map}"
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"{@outputUnwrappedPhasePath | | Path to save unwrapped phase map}"
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"{@outputCapturePath | | Path to save the captures}"
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"{@reliabilitiesPath | | Path to save reliabilities}"
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};
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static void help()
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{
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cout << "\nThis example generates sinusoidal patterns" << endl;
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cout << "To call: ./example_structured_light_createsinuspattern <width> <height>"
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" <number_of_period> <set_marker>(bool) <horizontal_patterns>(bool) <method_id>"
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" <output_captures_path> <output_pattern_path>(optional) <output_wrapped_phase_path> (optional)"
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" <output_unwrapped_phase_path>" << endl;
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}
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int main(int argc, char **argv)
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{
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if( argc < 2 )
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{
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help();
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return -1;
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}
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structured_light::SinusoidalPattern::Params params;
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phase_unwrapping::HistogramPhaseUnwrapping::Params paramsUnwrapping;
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// Retrieve parameters written in the command line
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CommandLineParser parser(argc, argv, keys);
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params.width = parser.get<int>(0);
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params.height = parser.get<int>(1);
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params.nbrOfPeriods = parser.get<int>(2);
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params.setMarkers = parser.get<bool>(3);
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params.horizontal = parser.get<bool>(4);
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params.methodId = parser.get<int>(5);
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String outputCapturePath = parser.get<String>(6);
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params.shiftValue = static_cast<float>(2 * CV_PI / 3);
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params.nbrOfPixelsBetweenMarkers = 70;
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String outputPatternPath = parser.get<String>(7);
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String outputWrappedPhasePath = parser.get<String>(8);
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String outputUnwrappedPhasePath = parser.get<String>(9);
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String reliabilitiesPath = parser.get<String>(10);
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Ptr<structured_light::SinusoidalPattern> sinus =
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structured_light::SinusoidalPattern::create(makePtr<structured_light::SinusoidalPattern::Params>(params));
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Ptr<phase_unwrapping::HistogramPhaseUnwrapping> phaseUnwrapping;
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vector<Mat> patterns;
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Mat shadowMask;
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Mat unwrappedPhaseMap, unwrappedPhaseMap8;
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Mat wrappedPhaseMap, wrappedPhaseMap8;
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//Generate sinusoidal patterns
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sinus->generate(patterns);
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VideoCapture cap(CAP_PVAPI);
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if( !cap.isOpened() )
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{
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cout << "Camera could not be opened" << endl;
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return -1;
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}
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cap.set(CAP_PROP_PVAPI_PIXELFORMAT, CAP_PVAPI_PIXELFORMAT_MONO8);
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namedWindow("pattern", WINDOW_NORMAL);
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setWindowProperty("pattern", WND_PROP_FULLSCREEN, WINDOW_FULLSCREEN);
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imshow("pattern", patterns[0]);
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cout << "Press any key when ready" << endl;
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waitKey(0);
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int nbrOfImages = 30;
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int count = 0;
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vector<Mat> img(nbrOfImages);
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Size camSize(-1, -1);
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while( count < nbrOfImages )
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{
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for(int i = 0; i < (int)patterns.size(); ++i )
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{
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imshow("pattern", patterns[i]);
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waitKey(300);
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cap >> img[count];
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count += 1;
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}
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}
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cout << "press enter when ready" << endl;
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bool loop = true;
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while ( loop )
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{
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char c = (char) waitKey(0);
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if( c == 10 )
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{
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loop = false;
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}
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}
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switch(params.methodId)
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{
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case structured_light::FTP:
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for( int i = 0; i < nbrOfImages; ++i )
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{
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/*We need three images to compute the shadow mask, as described in the reference paper
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* even if the phase map is computed from one pattern only
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*/
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vector<Mat> captures;
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if( i == nbrOfImages - 2 )
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{
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captures.push_back(img[i]);
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captures.push_back(img[i-1]);
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captures.push_back(img[i+1]);
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}
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else if( i == nbrOfImages - 1 )
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{
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captures.push_back(img[i]);
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captures.push_back(img[i-1]);
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captures.push_back(img[i-2]);
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}
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else
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{
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captures.push_back(img[i]);
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captures.push_back(img[i+1]);
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captures.push_back(img[i+2]);
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}
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sinus->computePhaseMap(captures, wrappedPhaseMap, shadowMask);
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if( camSize.height == -1 )
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{
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camSize.height = img[i].rows;
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camSize.width = img[i].cols;
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paramsUnwrapping.height = camSize.height;
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paramsUnwrapping.width = camSize.width;
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phaseUnwrapping =
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phase_unwrapping::HistogramPhaseUnwrapping::create(paramsUnwrapping);
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}
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sinus->unwrapPhaseMap(wrappedPhaseMap, unwrappedPhaseMap, camSize, shadowMask);
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phaseUnwrapping->unwrapPhaseMap(wrappedPhaseMap, unwrappedPhaseMap, shadowMask);
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Mat reliabilities, reliabilities8;
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phaseUnwrapping->getInverseReliabilityMap(reliabilities);
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reliabilities.convertTo(reliabilities8, CV_8U, 255,128);
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ostringstream tt;
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tt << i;
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imwrite(reliabilitiesPath + tt.str() + ".png", reliabilities8);
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unwrappedPhaseMap.convertTo(unwrappedPhaseMap8, CV_8U, 1, 128);
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wrappedPhaseMap.convertTo(wrappedPhaseMap8, CV_8U, 255, 128);
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if( !outputUnwrappedPhasePath.empty() )
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{
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ostringstream name;
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name << i;
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imwrite(outputUnwrappedPhasePath + "_FTP_" + name.str() + ".png", unwrappedPhaseMap8);
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}
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if( !outputWrappedPhasePath.empty() )
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{
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ostringstream name;
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name << i;
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imwrite(outputWrappedPhasePath + "_FTP_" + name.str() + ".png", wrappedPhaseMap8);
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}
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}
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break;
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case structured_light::PSP:
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case structured_light::FAPS:
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for( int i = 0; i < nbrOfImages - 2; ++i )
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{
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vector<Mat> captures;
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captures.push_back(img[i]);
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captures.push_back(img[i+1]);
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captures.push_back(img[i+2]);
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sinus->computePhaseMap(captures, wrappedPhaseMap, shadowMask);
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if( camSize.height == -1 )
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{
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camSize.height = img[i].rows;
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camSize.width = img[i].cols;
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paramsUnwrapping.height = camSize.height;
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paramsUnwrapping.width = camSize.width;
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phaseUnwrapping =
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phase_unwrapping::HistogramPhaseUnwrapping::create(paramsUnwrapping);
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}
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sinus->unwrapPhaseMap(wrappedPhaseMap, unwrappedPhaseMap, camSize, shadowMask);
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unwrappedPhaseMap.convertTo(unwrappedPhaseMap8, CV_8U, 1, 128);
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wrappedPhaseMap.convertTo(wrappedPhaseMap8, CV_8U, 255, 128);
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phaseUnwrapping->unwrapPhaseMap(wrappedPhaseMap, unwrappedPhaseMap, shadowMask);
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Mat reliabilities, reliabilities8;
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phaseUnwrapping->getInverseReliabilityMap(reliabilities);
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reliabilities.convertTo(reliabilities8, CV_8U, 255,128);
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ostringstream tt;
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tt << i;
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imwrite(reliabilitiesPath + tt.str() + ".png", reliabilities8);
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if( !outputUnwrappedPhasePath.empty() )
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{
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ostringstream name;
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name << i;
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if( params.methodId == structured_light::PSP )
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imwrite(outputUnwrappedPhasePath + "_PSP_" + name.str() + ".png", unwrappedPhaseMap8);
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else
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imwrite(outputUnwrappedPhasePath + "_FAPS_" + name.str() + ".png", unwrappedPhaseMap8);
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}
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if( !outputWrappedPhasePath.empty() )
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{
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ostringstream name;
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name << i;
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if( params.methodId == structured_light::PSP )
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imwrite(outputWrappedPhasePath + "_PSP_" + name.str() + ".png", wrappedPhaseMap8);
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else
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imwrite(outputWrappedPhasePath + "_FAPS_" + name.str() + ".png", wrappedPhaseMap8);
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}
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if( !outputCapturePath.empty() )
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{
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ostringstream name;
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name << i;
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if( params.methodId == structured_light::PSP )
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imwrite(outputCapturePath + "_PSP_" + name.str() + ".png", img[i]);
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else
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imwrite(outputCapturePath + "_FAPS_" + name.str() + ".png", img[i]);
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if( i == nbrOfImages - 3 )
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{
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if( params.methodId == structured_light::PSP )
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{
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ostringstream nameBis;
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nameBis << i+1;
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ostringstream nameTer;
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nameTer << i+2;
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imwrite(outputCapturePath + "_PSP_" + nameBis.str() + ".png", img[i+1]);
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imwrite(outputCapturePath + "_PSP_" + nameTer.str() + ".png", img[i+2]);
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}
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else
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{
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ostringstream nameBis;
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nameBis << i+1;
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ostringstream nameTer;
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nameTer << i+2;
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imwrite(outputCapturePath + "_FAPS_" + nameBis.str() + ".png", img[i+1]);
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imwrite(outputCapturePath + "_FAPS_" + nameTer.str() + ".png", img[i+2]);
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}
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}
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}
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}
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break;
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default:
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cout << "error" << endl;
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}
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cout << "done" << endl;
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if( !outputPatternPath.empty() )
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{
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for( int i = 0; i < 3; ++ i )
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{
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ostringstream name;
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name << i + 1;
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imwrite(outputPatternPath + name.str() + ".png", patterns[i]);
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}
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}
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loop = true;
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while( loop )
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{
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char key = (char) waitKey(0);
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if( key == 27 )
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{
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loop = false;
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}
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}
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return 0;
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}
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