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OpenCV_4.2.0/opencv_contrib-4.2.0/modules/structured_light/samples/capsinpattern.cpp

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2015, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
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// This software is provided by the copyright holders and contributors "as is" and
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//M*/
#include <opencv2/highgui.hpp>
#include <vector>
#include <iostream>
#include <fstream>
#include <opencv2/core.hpp>
#include <opencv2/core/utility.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/calib3d.hpp>
#include <opencv2/structured_light.hpp>
#include <opencv2/phase_unwrapping.hpp>
using namespace cv;
using namespace std;
static const char* keys =
{
"{@width | | Projector width}"
"{@height | | Projector height}"
"{@periods | | Number of periods}"
"{@setMarkers | | Patterns with or without markers}"
"{@horizontal | | Patterns are horizontal}"
"{@methodId | | Method to be used}"
"{@outputPatternPath | | Path to save patterns}"
"{@outputWrappedPhasePath | | Path to save wrapped phase map}"
"{@outputUnwrappedPhasePath | | Path to save unwrapped phase map}"
"{@outputCapturePath | | Path to save the captures}"
"{@reliabilitiesPath | | Path to save reliabilities}"
};
static void help()
{
cout << "\nThis example generates sinusoidal patterns" << endl;
cout << "To call: ./example_structured_light_createsinuspattern <width> <height>"
" <number_of_period> <set_marker>(bool) <horizontal_patterns>(bool) <method_id>"
" <output_captures_path> <output_pattern_path>(optional) <output_wrapped_phase_path> (optional)"
" <output_unwrapped_phase_path>" << endl;
}
int main(int argc, char **argv)
{
if( argc < 2 )
{
help();
return -1;
}
structured_light::SinusoidalPattern::Params params;
phase_unwrapping::HistogramPhaseUnwrapping::Params paramsUnwrapping;
// Retrieve parameters written in the command line
CommandLineParser parser(argc, argv, keys);
params.width = parser.get<int>(0);
params.height = parser.get<int>(1);
params.nbrOfPeriods = parser.get<int>(2);
params.setMarkers = parser.get<bool>(3);
params.horizontal = parser.get<bool>(4);
params.methodId = parser.get<int>(5);
String outputCapturePath = parser.get<String>(6);
params.shiftValue = static_cast<float>(2 * CV_PI / 3);
params.nbrOfPixelsBetweenMarkers = 70;
String outputPatternPath = parser.get<String>(7);
String outputWrappedPhasePath = parser.get<String>(8);
String outputUnwrappedPhasePath = parser.get<String>(9);
String reliabilitiesPath = parser.get<String>(10);
Ptr<structured_light::SinusoidalPattern> sinus =
structured_light::SinusoidalPattern::create(makePtr<structured_light::SinusoidalPattern::Params>(params));
Ptr<phase_unwrapping::HistogramPhaseUnwrapping> phaseUnwrapping;
vector<Mat> patterns;
Mat shadowMask;
Mat unwrappedPhaseMap, unwrappedPhaseMap8;
Mat wrappedPhaseMap, wrappedPhaseMap8;
//Generate sinusoidal patterns
sinus->generate(patterns);
VideoCapture cap(CAP_PVAPI);
if( !cap.isOpened() )
{
cout << "Camera could not be opened" << endl;
return -1;
}
cap.set(CAP_PROP_PVAPI_PIXELFORMAT, CAP_PVAPI_PIXELFORMAT_MONO8);
namedWindow("pattern", WINDOW_NORMAL);
setWindowProperty("pattern", WND_PROP_FULLSCREEN, WINDOW_FULLSCREEN);
imshow("pattern", patterns[0]);
cout << "Press any key when ready" << endl;
waitKey(0);
int nbrOfImages = 30;
int count = 0;
vector<Mat> img(nbrOfImages);
Size camSize(-1, -1);
while( count < nbrOfImages )
{
for(int i = 0; i < (int)patterns.size(); ++i )
{
imshow("pattern", patterns[i]);
waitKey(300);
cap >> img[count];
count += 1;
}
}
cout << "press enter when ready" << endl;
bool loop = true;
while ( loop )
{
char c = (char) waitKey(0);
if( c == 10 )
{
loop = false;
}
}
switch(params.methodId)
{
case structured_light::FTP:
for( int i = 0; i < nbrOfImages; ++i )
{
/*We need three images to compute the shadow mask, as described in the reference paper
* even if the phase map is computed from one pattern only
*/
vector<Mat> captures;
if( i == nbrOfImages - 2 )
{
captures.push_back(img[i]);
captures.push_back(img[i-1]);
captures.push_back(img[i+1]);
}
else if( i == nbrOfImages - 1 )
{
captures.push_back(img[i]);
captures.push_back(img[i-1]);
captures.push_back(img[i-2]);
}
else
{
captures.push_back(img[i]);
captures.push_back(img[i+1]);
captures.push_back(img[i+2]);
}
sinus->computePhaseMap(captures, wrappedPhaseMap, shadowMask);
if( camSize.height == -1 )
{
camSize.height = img[i].rows;
camSize.width = img[i].cols;
paramsUnwrapping.height = camSize.height;
paramsUnwrapping.width = camSize.width;
phaseUnwrapping =
phase_unwrapping::HistogramPhaseUnwrapping::create(paramsUnwrapping);
}
sinus->unwrapPhaseMap(wrappedPhaseMap, unwrappedPhaseMap, camSize, shadowMask);
phaseUnwrapping->unwrapPhaseMap(wrappedPhaseMap, unwrappedPhaseMap, shadowMask);
Mat reliabilities, reliabilities8;
phaseUnwrapping->getInverseReliabilityMap(reliabilities);
reliabilities.convertTo(reliabilities8, CV_8U, 255,128);
ostringstream tt;
tt << i;
imwrite(reliabilitiesPath + tt.str() + ".png", reliabilities8);
unwrappedPhaseMap.convertTo(unwrappedPhaseMap8, CV_8U, 1, 128);
wrappedPhaseMap.convertTo(wrappedPhaseMap8, CV_8U, 255, 128);
if( !outputUnwrappedPhasePath.empty() )
{
ostringstream name;
name << i;
imwrite(outputUnwrappedPhasePath + "_FTP_" + name.str() + ".png", unwrappedPhaseMap8);
}
if( !outputWrappedPhasePath.empty() )
{
ostringstream name;
name << i;
imwrite(outputWrappedPhasePath + "_FTP_" + name.str() + ".png", wrappedPhaseMap8);
}
}
break;
case structured_light::PSP:
case structured_light::FAPS:
for( int i = 0; i < nbrOfImages - 2; ++i )
{
vector<Mat> captures;
captures.push_back(img[i]);
captures.push_back(img[i+1]);
captures.push_back(img[i+2]);
sinus->computePhaseMap(captures, wrappedPhaseMap, shadowMask);
if( camSize.height == -1 )
{
camSize.height = img[i].rows;
camSize.width = img[i].cols;
paramsUnwrapping.height = camSize.height;
paramsUnwrapping.width = camSize.width;
phaseUnwrapping =
phase_unwrapping::HistogramPhaseUnwrapping::create(paramsUnwrapping);
}
sinus->unwrapPhaseMap(wrappedPhaseMap, unwrappedPhaseMap, camSize, shadowMask);
unwrappedPhaseMap.convertTo(unwrappedPhaseMap8, CV_8U, 1, 128);
wrappedPhaseMap.convertTo(wrappedPhaseMap8, CV_8U, 255, 128);
phaseUnwrapping->unwrapPhaseMap(wrappedPhaseMap, unwrappedPhaseMap, shadowMask);
Mat reliabilities, reliabilities8;
phaseUnwrapping->getInverseReliabilityMap(reliabilities);
reliabilities.convertTo(reliabilities8, CV_8U, 255,128);
ostringstream tt;
tt << i;
imwrite(reliabilitiesPath + tt.str() + ".png", reliabilities8);
if( !outputUnwrappedPhasePath.empty() )
{
ostringstream name;
name << i;
if( params.methodId == structured_light::PSP )
imwrite(outputUnwrappedPhasePath + "_PSP_" + name.str() + ".png", unwrappedPhaseMap8);
else
imwrite(outputUnwrappedPhasePath + "_FAPS_" + name.str() + ".png", unwrappedPhaseMap8);
}
if( !outputWrappedPhasePath.empty() )
{
ostringstream name;
name << i;
if( params.methodId == structured_light::PSP )
imwrite(outputWrappedPhasePath + "_PSP_" + name.str() + ".png", wrappedPhaseMap8);
else
imwrite(outputWrappedPhasePath + "_FAPS_" + name.str() + ".png", wrappedPhaseMap8);
}
if( !outputCapturePath.empty() )
{
ostringstream name;
name << i;
if( params.methodId == structured_light::PSP )
imwrite(outputCapturePath + "_PSP_" + name.str() + ".png", img[i]);
else
imwrite(outputCapturePath + "_FAPS_" + name.str() + ".png", img[i]);
if( i == nbrOfImages - 3 )
{
if( params.methodId == structured_light::PSP )
{
ostringstream nameBis;
nameBis << i+1;
ostringstream nameTer;
nameTer << i+2;
imwrite(outputCapturePath + "_PSP_" + nameBis.str() + ".png", img[i+1]);
imwrite(outputCapturePath + "_PSP_" + nameTer.str() + ".png", img[i+2]);
}
else
{
ostringstream nameBis;
nameBis << i+1;
ostringstream nameTer;
nameTer << i+2;
imwrite(outputCapturePath + "_FAPS_" + nameBis.str() + ".png", img[i+1]);
imwrite(outputCapturePath + "_FAPS_" + nameTer.str() + ".png", img[i+2]);
}
}
}
}
break;
default:
cout << "error" << endl;
}
cout << "done" << endl;
if( !outputPatternPath.empty() )
{
for( int i = 0; i < 3; ++ i )
{
ostringstream name;
name << i + 1;
imwrite(outputPatternPath + name.str() + ".png", patterns[i]);
}
}
loop = true;
while( loop )
{
char key = (char) waitKey(0);
if( key == 27 )
{
loop = false;
}
}
return 0;
}
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