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

Public Member Functions
void	getImagesForShadowMasks (Mat blackImage, Mat whiteImage)
	Generates the all-black and all-white images needed for shadowMasks computation.

long	getNumberOfPatternImages ()
	Get the number of pattern images needed for the graycode pattern.

bool	getProjPixel (List< Mat > patternImages, int x, int y, out Vec2d projPix)
	For a (x,y) pixel of a camera returns the corresponding projector pixel.

bool	getProjPixel (List< Mat > patternImages, int x, int y, out(double x, double y) projPix)
	For a (x,y) pixel of a camera returns the corresponding projector pixel.

bool	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.

Public Member Functions inherited from OpenCVForUnity.Structured_lightModule.StructuredLightPattern
bool	generate (List< Mat > patternImages)
	Generates the structured light pattern to project.

Public Member Functions inherited from OpenCVForUnity.CoreModule.Algorithm
virtual void	clear ()
	Clears the algorithm state.

virtual bool	empty ()
	Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read.

virtual string	getDefaultName ()

IntPtr	getNativeObjAddr ()

void	save (string filename)

Public Member Functions inherited from OpenCVForUnity.DisposableObject
void	Dispose ()

void	ThrowIfDisposed ()

Static Public Member Functions
static new GrayCodePattern	__fromPtr__ (IntPtr addr)

static GrayCodePattern	create (int width, int height)
	Constructor.

Static Public Member Functions inherited from OpenCVForUnity.Structured_lightModule.StructuredLightPattern
static new StructuredLightPattern	__fromPtr__ (IntPtr addr)

Static Public Member Functions inherited from OpenCVForUnity.CoreModule.Algorithm
static Algorithm	__fromPtr__ (IntPtr addr)

Static Public Member Functions inherited from OpenCVForUnity.DisposableObject
static IntPtr	ThrowIfNullIntPtr (IntPtr ptr)

Protected Member Functions
override void	Dispose (bool disposing)

Protected Member Functions inherited from OpenCVForUnity.Structured_lightModule.StructuredLightPattern
override void	Dispose (bool disposing)

Protected Member Functions inherited from OpenCVForUnity.CoreModule.Algorithm
Protected Member Functions inherited from OpenCVForUnity.DisposableOpenCVObject
	DisposableOpenCVObject ()

	DisposableOpenCVObject (bool isEnabledDispose)

	DisposableOpenCVObject (IntPtr ptr)

	DisposableOpenCVObject (IntPtr ptr, bool isEnabledDispose)

Protected Member Functions inherited from OpenCVForUnity.DisposableObject
	DisposableObject ()

	DisposableObject (bool isEnabledDispose)

Additional Inherited Members
Package Functions inherited from OpenCVForUnity.Structured_lightModule.StructuredLightPattern
Package Functions inherited from OpenCVForUnity.CoreModule.Algorithm
Package Attributes inherited from OpenCVForUnity.DisposableOpenCVObject
Properties inherited from OpenCVForUnity.DisposableObject
bool	IsDisposed `[get, protected set]`

bool	IsEnabledDispose `[get, set]`

Detailed Description

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

Member Function Documentation

◆ fromPtr()

static new GrayCodePattern OpenCVForUnity.Structured_lightModule.GrayCodePattern.__fromPtr__ ( IntPtr addr )

static

◆ create()

static GrayCodePattern OpenCVForUnity.Structured_lightModule.GrayCodePattern.create	(	int	width,
		int	height )

static

Constructor.

Parameters

parameters GrayCodePattern parameters GrayCodePattern::Params: the width and the height of the projector.

◆ Dispose()

override void OpenCVForUnity.Structured_lightModule.GrayCodePattern.Dispose ( bool disposing )

protectedvirtual

Reimplemented from OpenCVForUnity.CoreModule.Algorithm.

◆ getImagesForShadowMasks()

void OpenCVForUnity.Structured_lightModule.GrayCodePattern.getImagesForShadowMasks	(	Mat	blackImage,
		Mat	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()

long OpenCVForUnity.Structured_lightModule.GrayCodePattern.getNumberOfPatternImages ( )

Get the number of pattern images needed for the graycode pattern.

Returns: The number of pattern images needed for the graycode pattern.

◆ getProjPixel() [1/3]

bool OpenCVForUnity.Structured_lightModule.GrayCodePattern.getProjPixel	(	List< Mat >	patternImages,
		int	x,
		int	y,
		out Vec2d	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.

◆ getProjPixel() [2/3]

bool OpenCVForUnity.Structured_lightModule.GrayCodePattern.getProjPixel	(	List< Mat >	patternImages,
		int	x,
		int	y,
		out(double x, double y)	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.

◆ getProjPixel() [3/3]

bool OpenCVForUnity.Structured_lightModule.GrayCodePattern.getProjPixel	(	List< Mat >	patternImages,
		int	x,
		int	y,
		Point	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()

void OpenCVForUnity.Structured_lightModule.GrayCodePattern.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.

◆ setWhiteThreshold()

void OpenCVForUnity.Structured_lightModule.GrayCodePattern.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.

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

OpenCVForUnity/Assets/OpenCVForUnity/org/opencv_contrib/structured_light/GrayCodePattern.cs
OpenCVForUnity/Assets/OpenCVForUnity/org/opencv_contrib/structured_light/GrayCodePattern_Struct.cs
OpenCVForUnity/Assets/OpenCVForUnity/org/opencv_contrib/structured_light/GrayCodePattern_ValueTuple.cs

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ __fromPtr__()

◆ create()

◆ Dispose()

◆ getImagesForShadowMasks()

◆ getNumberOfPatternImages()

◆ getProjPixel() [1/3]

◆ getProjPixel() [2/3]

◆ getProjPixel() [3/3]

◆ setBlackThreshold()

◆ setWhiteThreshold()

◆ fromPtr()