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// License Agreement
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// For Open Source Computer Vision Library
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// Copyright (C) 2015, OpenCV Foundation, all rights reserved.
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//M*/
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#ifndef __OPENCV_SINUSOIDAL_PATTERN_HPP__
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#define __OPENCV_SINUSOIDAL_PATTERN_HPP__
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#include "opencv2/core.hpp"
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#include "opencv2/imgproc.hpp"
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#include "opencv2/structured_light/structured_light.hpp"
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#include <opencv2/phase_unwrapping.hpp>
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#include <opencv2/calib3d.hpp>
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namespace cv {
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namespace structured_light {
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//! @addtogroup structured_light
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//! @{
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//! Type of sinusoidal pattern profilometry methods.
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enum{
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FTP = 0,
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PSP = 1,
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FAPS = 2
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};
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/**
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* @brief Class implementing Fourier transform profilometry (FTP) , phase-shifting profilometry (PSP)
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* and Fourier-assisted phase-shifting profilometry (FAPS) based on @cite faps.
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* This class generates sinusoidal patterns that can be used with FTP, PSP and FAPS.
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*/
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class CV_EXPORTS_W SinusoidalPattern : public StructuredLightPattern
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{
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public:
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/**
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* @brief Parameters of SinusoidalPattern constructor
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* @param width Projector's width.
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* @param height Projector's height.
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* @param nbrOfPeriods Number of period along the patterns direction.
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* @param shiftValue Phase shift between two consecutive patterns.
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* @param methodId Allow to choose between FTP, PSP and FAPS.
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* @param nbrOfPixelsBetweenMarkers Number of pixels between two consecutive markers on the same row.
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* @param setMarkers Allow to set markers on the patterns.
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* @param markersLocation vector used to store markers location on the patterns.
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*/
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struct CV_EXPORTS_W Params
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{
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CV_WRAP Params();
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CV_PROP_RW int width;
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CV_PROP_RW int height;
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CV_PROP_RW int nbrOfPeriods;
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CV_PROP_RW float shiftValue;
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CV_PROP_RW int methodId;
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CV_PROP_RW int nbrOfPixelsBetweenMarkers;
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CV_PROP_RW bool horizontal;
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CV_PROP_RW bool setMarkers;
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std::vector<Point2f> markersLocation;
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};
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/**
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* @brief Constructor.
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* @param parameters SinusoidalPattern parameters SinusoidalPattern::Params: width, height of the projector and patterns parameters.
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*
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*/
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CV_WRAP static Ptr<SinusoidalPattern> create( Ptr<SinusoidalPattern::Params> parameters =
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makePtr<SinusoidalPattern::Params>() );
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/**
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* @brief Compute a wrapped phase map from sinusoidal patterns.
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* @param patternImages Input data to compute the wrapped phase map.
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* @param wrappedPhaseMap Wrapped phase map obtained through one of the three methods.
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* @param shadowMask Mask used to discard shadow regions.
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* @param fundamental Fundamental matrix used to compute epipolar lines and ease the matching step.
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*/
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CV_WRAP
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virtual void computePhaseMap( InputArrayOfArrays patternImages,
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OutputArray wrappedPhaseMap,
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OutputArray shadowMask = noArray(),
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InputArray fundamental = noArray()) = 0;
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/**
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* @brief Unwrap the wrapped phase map to remove phase ambiguities.
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* @param wrappedPhaseMap The wrapped phase map computed from the pattern.
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* @param unwrappedPhaseMap The unwrapped phase map used to find correspondences between the two devices.
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* @param camSize Resolution of the camera.
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* @param shadowMask Mask used to discard shadow regions.
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*/
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CV_WRAP
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virtual void unwrapPhaseMap( InputArrayOfArrays wrappedPhaseMap,
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OutputArray unwrappedPhaseMap,
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cv::Size camSize,
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InputArray shadowMask = noArray() ) = 0;
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/**
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* @brief Find correspondences between the two devices thanks to unwrapped phase maps.
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* @param projUnwrappedPhaseMap Projector's unwrapped phase map.
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* @param camUnwrappedPhaseMap Camera's unwrapped phase map.
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* @param matches Images used to display correspondences map.
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*/
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CV_WRAP
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virtual void findProCamMatches( InputArray projUnwrappedPhaseMap, InputArray camUnwrappedPhaseMap,
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OutputArrayOfArrays matches ) = 0;
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/**
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* @brief compute the data modulation term.
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* @param patternImages captured images with projected patterns.
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* @param dataModulationTerm Mat where the data modulation term is saved.
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* @param shadowMask Mask used to discard shadow regions.
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*/
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CV_WRAP
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virtual void computeDataModulationTerm( InputArrayOfArrays patternImages,
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OutputArray dataModulationTerm,
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InputArray shadowMask ) = 0;
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};
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//! @}
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}
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}
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#endif
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