sinusoidalpattern.hpp

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#ifndef __OPENCV_SINUSOIDAL_PATTERN_HPP__
#define __OPENCV_SINUSOIDAL_PATTERN_HPP__

#include "opencv2/core.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/structured_light/structured_light.hpp"
#include <opencv2/phase_unwrapping.hpp>
#include <opencv2/calib3d.hpp>

namespace cv {
namespace structured_light {
//! @addtogroup structured_light
//! @{

 //! Type of sinusoidal pattern profilometry methods.
enum{
  FTP = 0,
  PSP = 1,
  FAPS = 2
 };
/**
 * @brief Class implementing Fourier transform profilometry (FTP) , phase-shifting profilometry (PSP)
 * and Fourier-assisted phase-shifting profilometry (FAPS) based on @cite faps.

 * This class generates sinusoidal patterns that can be used with FTP, PSP and FAPS.
*/
class CV_EXPORTS_W SinusoidalPattern : public StructuredLightPattern
{
public:
    /**
     * @brief Parameters of SinusoidalPattern constructor
     * @param width Projector's width.
     * @param height Projector's height.
     * @param nbrOfPeriods Number of period along the patterns direction.
     * @param shiftValue Phase shift between two consecutive patterns.
     * @param methodId Allow to choose between FTP, PSP and FAPS.
     * @param nbrOfPixelsBetweenMarkers Number of pixels between two consecutive markers on the same row.
     * @param setMarkers Allow to set markers on the patterns.
     * @param markersLocation vector used to store markers location on the patterns.
     */
    struct CV_EXPORTS Params
    {
        Params();
        int width;
        int height;
        int nbrOfPeriods;
        float shiftValue;
        int methodId;
        int nbrOfPixelsBetweenMarkers;
        bool horizontal;
        bool setMarkers;
        std::vector<Point2f> markersLocation;
    };
    /**
     * @brief Constructor.
     * @param parameters SinusoidalPattern parameters SinusoidalPattern::Params: width, height of the projector and patterns parameters.
     *
     */
    static Ptr<SinusoidalPattern> create( const SinusoidalPattern::Params &parameters =
                                          SinusoidalPattern::Params() );
    /**
     * @brief Compute a wrapped phase map from sinusoidal patterns.
     * @param patternImages Input data to compute the wrapped phase map.
     * @param wrappedPhaseMap Wrapped phase map obtained through one of the three methods.
     * @param shadowMask Mask used to discard shadow regions.
     * @param fundamental Fundamental matrix used to compute epipolar lines and ease the matching step.
     */
    CV_WRAP
    virtual void computePhaseMap( InputArrayOfArrays patternImages,
                                  OutputArray wrappedPhaseMap,
                                  OutputArray shadowMask = noArray(),
                                  InputArray fundamental = noArray()) = 0;
    /**
     * @brief Unwrap the wrapped phase map to remove phase ambiguities.
     * @param wrappedPhaseMap The wrapped phase map computed from the pattern.
     * @param unwrappedPhaseMap The unwrapped phase map used to find correspondences between the two devices.
     * @param camSize Resolution of the camera.
     * @param shadowMask Mask used to discard shadow regions.
     */
    CV_WRAP
    virtual void unwrapPhaseMap( InputArrayOfArrays wrappedPhaseMap,
                                 OutputArray unwrappedPhaseMap,
                                 cv::Size camSize,
                                 InputArray shadowMask = noArray() ) = 0;
    /**
     * @brief Find correspondences between the two devices thanks to unwrapped phase maps.
     * @param projUnwrappedPhaseMap Projector's unwrapped phase map.
     * @param camUnwrappedPhaseMap Camera's unwrapped phase map.
     * @param matches Images used to display correspondences map.
     */
    CV_WRAP
    virtual void findProCamMatches( InputArray projUnwrappedPhaseMap, InputArray camUnwrappedPhaseMap,
                                    OutputArrayOfArrays matches ) = 0;

    /**
     * @brief compute the data modulation term.
     * @param patternImages captured images with projected patterns.
     * @param dataModulationTerm Mat where the data modulation term is saved.
     * @param shadowMask Mask used to discard shadow regions.
     */
    CV_WRAP
    virtual void computeDataModulationTerm( InputArrayOfArrays patternImages,
                                            OutputArray dataModulationTerm,
                                            InputArray shadowMask ) = 0;

};
//! @}
}
}
#endif