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| @startuml | |
| namespace cv::structured_light{ | |
| GrayCodePattern <-- GrayCodePattern_Impl : heritance | |
| StructuredLightPattern <-- GrayCodePattern : heritance | |
| cv::algorithm <-- StructuredLightPattern: heritance | |
| class StructuredLightPattern { | |
| 'Abstract base class for generating and decoding structured light pattern' | |
| ..generate.. | |
| +virtual bool generate( OutputArrayOfArrays patternImages ) | |
| ..decode.. | |
| +virtual bool decode(InputArrayOfArray patternImages, InputArrayOfArray blackImages = noArray(), InputArrayOfArray whiteImages = noArray(), OutputArray disparityMap, int flags) | |
| } | |
| class GrayCodePattern{ | |
| +static Ptr<GrayCodePattern> create(const GrayCodePattern::Params ¶meters = GrayCodePattern::Params()); | |
| +struct Params | |
| int width | |
| int height | |
| +virtual void getImagesForShadowMasks(InputOutputArray blackImage, InputOutputArray whiteImage) | |
| +virtual void setBlackThreshold(size_t val) | |
| +virtual void setWhiteThreshold(size_t val) | |
| +virtual void getProjPixel(InputArrayOfArray patternImages, int x, int y, cv::Point &projPix) | |
| +viertual size_t getnumOfPatternImages() | |
| } | |
| class GrayCodePattern_Impl { | |
| +GrayCodePattern_Impl::GrayCodePattern_Impl(const 3DUnderworld::Params ¶meters) | |
| +virtual ~GrayCodePattern_Impl() | |
| +void getProjPixel(InputArrayOfArray patternImages, int x, int y, cv::Point &projPix) | |
| 'converts a gray code sequence to a decimal number' | |
| -static int grayToDec(const cv::vector<bool> gray) | |
| 'computes the required number of pattern images, allocating the pattern vector' | |
| -void computeNumberOfPatternImages() | |
| 'the number of images of the pattern' | |
| -size_t numOfPatternImages | |
| 'the number of row images of the pattern' | |
| -size_t numberOfHorImages | |
| 'the number of column images of the pattern' | |
| -size_t numberOfVerImages | |
| -int blackThreshold | |
| -int whiteThreshold | |
| -void computeShadowMasks(InputArraysOfArray darkImage, InputArraysOfArray lightImage, OutputArraysOfArray shadowsMasks) | |
| -Params params; | |
| +void getImagesForShadowMasks(InputOutputArray blackImage, InputOutputArray whiteImage) | |
| +void setBlackThreshold(size_t val) | |
| +void setWhiteThreshold(size_t val) | |
| +viertual size_t getnumOfPatternImages() | |
| } | |
| class enum{ | |
| +enum DECODE_3D_UNDERWORLD = 0 | |
| } | |
| note left of (StructuredLightPattern) | |
| Abstract base class for generating and decoding structured light patterns | |
| Its definition is in the structured_light.hpp file | |
| __ | |
| generate: generates the gray code pattern as a std::vector<cv::Mat> | |
| __ | |
| decode: decodes the gray code pattern returning a disparity map; 0 flag implements a decoding method based on treshold parameters | |
| end note | |
| note left of (GrayCodePattern) | |
| General interface for generating and decoding Gray Codes Pattern | |
| Its definition is in the graycodepattern.hpp file | |
| __ | |
| Params: for now it contains the heigth and the width of the projector | |
| __ | |
| getImageForShadowsMask: generates the all black and all white images needed for shadowsMask computation | |
| __ | |
| setWhiteThreshold: sets the value for white color threshold | |
| __ | |
| setBlackThreshold: sets the value for black color threshold | |
| __ | |
| getProjPixel: for a (x,y) pixel of the camera returns the corresponding projector pixel | |
| __ | |
| getnumOfPatternImages(): returns the number of pattern images needed for that projector | |
| end note | |
| note left of (GrayCodePattern_Impl) | |
| Porting of the structured GrayCodePattern described in 3DUNDERWORLD-SLS | |
| Its definition and implementation is in the graycodepattern.cpp file | |
| -- | |
| GrayCodePattern_Impl: constructor | |
| __ | |
| ~GrayCodePattern: destructor | |
| __ | |
| computeNumberOfPatternImages: computes the required number of pattern images, allocating the pattern vector | |
| __ | |
| computeShadowsMask: computes the shadows occlusion where the model can't be reconstructed | |
| __ | |
| blackThreshold: number between 0-255 that represents the minimum brightness difference | |
| between the fully illuminated (white image) and the non - illuminated images (black image); | |
| used in computeShadowsMask method | |
| __ | |
| whiteThreshold: number between 0-255 that represents the minimum brightness difference | |
| between the gray-code pattern and its inverse images; used in getProjPixel method | |
| __ | |
| grayToDec: converts a gray code (similar to a binary sequence) to a decimal number | |
| end note | |
| note top of (enum) | |
| DECODE_3D_UNDERWORLD: flag for using the decode algorithm implemented in “3DUNDERWORLD-SLS: An Open-Source | |
| Structured-Light Scanning System for Rapid Geometry Acquisition”. Other algorithms can be implemented. | |
| end note | |
| } | |
| /' | |
| note top of (_t1) | |
| Tutorial for pattern acquisition | |
| -- | |
| Handles the pattern generation | |
| Handles the cameras through libgphoto2 APIs (included in OpenCV) | |
| Acquires and savesthe pattern images with libgphoto2 APIs (included in OpenCV) | |
| Performs calibration using OpenCV calibration methods | |
| end note | |
| note top of (_t2) | |
| Tutorial for 3D reconstruction | |
| -- | |
| Acquires the pattern images through libgphoto2 APIs (included in OpenCV) | |
| Rectifies the pattern images using the already implemented OpenCV functions | |
| Decodes the images through GrayCodePattern class that returns a disparity map | |
| Computes the point cloud reprojecting the disparity map to 3D (disparity->depth->3D) using the already implemented OpenCV functions | |
| end note | |
| '/ | |
| @endunml | |
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