Add new algorithm to the structured light module

modules/structured_light/CMakeLists.txt

@@ -1,2 +1,3 @@
 set(the_description "Structured Light API")
 ocv_define_module(structured_light opencv_core opencv_imgproc opencv_calib3d opencv_phase_unwrapping OPTIONAL opencv_viz WRAP python java objc)
+

modules/structured_light/images/calibration_result.xml

@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<opencv_storage>
+<img_shape type_id="opencv-matrix">
+  <rows>2</rows>
+  <cols>1</cols>
+  <dt>d</dt>
+  <data>
+    720. 1280.</data></img_shape>
+<rms>8.9865323037520906e+00</rms>
+<cam_int type_id="opencv-matrix">
+  <rows>3</rows>
+  <cols>3</cols>
+  <dt>d</dt>
+  <data>
+    2.2902176176240550e+03 0. 4.7760365772945374e+02 0.
+    2.0789910149720636e+03 5.9663906901935786e+02 0. 0. 1.</data></cam_int>
+<cam_dist type_id="opencv-matrix">
+  <rows>1</rows>
+  <cols>5</cols>
+  <dt>d</dt>
+  <data>
+    2.2272502988720682e+00 6.2041480268790341e+00 5.1365359803581978e-01
+    -1.1065215615966861e-01 -4.8897144273472620e+01</data></cam_dist>
+<proj_int type_id="opencv-matrix">
+  <rows>3</rows>
+  <cols>3</cols>
+  <dt>d</dt>
+  <data>
+    1.4173607712558548e+03 0. 5.1752307732265035e+02 0.
+    1.3963061950617591e+03 7.1503556186206947e+02 0. 0. 1.</data></proj_int>
+<proj_dist type_id="opencv-matrix">
+  <rows>1</rows>
+  <cols>5</cols>
+  <dt>d</dt>
+  <data>
+    1.4490791728765842e-01 -7.4856581249561327e-01
+    -9.0651830613910390e-03 -3.4131371258920178e-02
+    1.3733497765243312e+00</data></proj_dist>
+<roration type_id="opencv-matrix">
+  <rows>3</rows>
+  <cols>3</cols>
+  <dt>d</dt>
+  <data>
+    9.9215888102252536e-01 -9.4771920438436966e-03
+    1.2462318259093863e-01 1.0446695919745458e-02 9.9992002393776458e-01
+    -7.1282727683994072e-03 -1.2454565970956474e-01
+    8.3742796265969446e-03 9.9217853740556439e-01</data></roration>
+<translation type_id="opencv-matrix">
+  <rows>3</rows>
+  <cols>1</cols>
+  <dt>d</dt>
+  <data>
+    -3.5484301147652934e+02 2.2059644511693236e+02
+    -1.3115183374509279e+03</data></translation>
+</opencv_storage>

modules/structured_light/include/opencv2/structured_light.hpp

@@ -46,6 +46,9 @@
 #include "opencv2/structured_light/structured_light.hpp"
 #include "opencv2/structured_light/graycodepattern.hpp"
 #include "opencv2/structured_light/sinusoidalpattern.hpp"
+#include "opencv2/structured_light/slmono_calibration.hpp"
+#include "opencv2/structured_light/slmono_utils.hpp"
+#include "opencv2/structured_light/slmono.hpp"
 
 /** @defgroup structured_light Structured Light API
 

modules/structured_light/include/opencv2/structured_light/slmono.hpp

@@ -0,0 +1,66 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+
+#ifndef OPENCV_structured_light_HPP
+#define OPENCV_structured_light_HPP
+
+#include <opencv2/core.hpp>
+#include <opencv2/imgproc.hpp>
+
+namespace cv{
+namespace structured_light{
+class CV_EXPORTS StructuredLightMono : public virtual Algorithm 
+{
+public:
+
+    StructuredLightMono(Size img_size, int patterns, int stripes_number, std::string algs_type)
+    {
+        projector_size = img_size;
+        pattern_num = patterns;
+        alg_type = algs_type;
+        stripes_num = stripes_number;
+    }
+
+    //generate patterns for projecting
+    void generatePatterns(OutputArrayOfArrays patterns, float stripes_angle);
+
+    //project patterns and capture with camera
+    //CV_WRAP
+//    void captureImages(InputArrayOfArrays patterns, OutputArrayOfArrays refs, OutputArrayOfArrays imgs, bool isCaptureRefs = true);
+
+    //main phase unwrapping algorithm
+    void unwrapPhase(InputOutputArrayOfArrays refs, InputOutputArrayOfArrays imgs, OutputArray out);
+
+    //read references and phases from file
+    //CV_WRAP
+//    void readImages(std::vector<std::string> refs_files, std::vector<std::string> imgs_files, OutputArrayOfArrays refs, OutputArrayOfArrays imgs);
+
+private:
+
+    //size of the image for whole algorithm
+    Size projector_size;
+
+    //number of pattern used in SL algorithm starting from 3
+    int pattern_num; 
+
+    //number of stripes in the image pattern
+    int stripes_num;
+
+    //PCG or TPU 
+    std::string alg_type;
+
+    //remove shadows from images
+    void removeShadows(InputOutputArrayOfArrays refs, InputOutputArrayOfArrays imgs); 
+
+    //phase unwrapping with PCG algorithm based on DCT
+    void computePhasePCG(InputOutputArrayOfArrays refs, InputOutputArrayOfArrays imgs, OutputArray out);
+
+    //standart temporal unwrap algorithm 
+    void computePhaseTPU(InputOutputArrayOfArrays refs, InputOutputArrayOfArrays imgs, OutputArray out);
+};
+
+}} // cv::structured_light::
+
+#endif

modules/structured_light/include/opencv2/structured_light/slmono_calibration.hpp

@@ -0,0 +1,59 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+#ifndef OPENCV_structured_light_mono_calibration_HPP
+#define OPENCV_structured_light_mono_calibration_HPP
+
+#include <opencv2/core.hpp>
+//#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+#include "opencv2/core/utility.hpp"
+#include <opencv2/calib3d.hpp>
+
+using namespace std;
+
+namespace cv{
+namespace structured_light{
+
+enum calibrationPattern{CHESSBOARD, CIRCLES_GRID, ASYMETRIC_CIRCLES_GRID};
+
+struct Settings
+{
+    Settings();
+    int patternType;
+    Size patternSize;
+    Size subpixelSize;
+    Size imageSize;
+    float squareSize;
+    int nbrOfFrames;
+};
+
+void loadSettings(String path, Settings &sttngs);
+
+void createObjectPoints( InputArrayOfArrays patternCorners, Size patternSize, float squareSize, int patternType );
+
+void createProjectorObjectPoints(InputArrayOfArrays patternCorners, Size patternSize, float squareSize, int patternType );
+
+double calibrate(InputArrayOfArrays objPoints, InputArrayOfArrays imgPoints, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays r, OutputArrayOfArrays t, Size imgSize );
+
+void fromCamToWorld(InputArray cameraMatrix, InputArrayOfArrays rV, InputArrayOfArrays tV, InputArrayOfArrays imgPoints, OutputArrayOfArrays worldPoints );
+
+void saveCalibrationResults( String path, InputArray camK, InputArray camDistCoeffs, InputArray projK, InputArray projDistCoeffs, InputArray fundamental);
+
+void saveCalibrationData( String path, InputArrayOfArrays T1, InputArrayOfArrays T2,InputArrayOfArrays ptsProjCam, InputArrayOfArrays ptsProjProj, InputArrayOfArrays ptsProjCamN, InputArrayOfArrays ptsProjProjN);
+
+void normalize(InputArray pts, const int& dim, InputOutputArray normpts, OutputArray T);
+
+void fromVectorToMat(InputArrayOfArrays v, OutputArray pts);
+
+void fromMatToVector(InputArray pts, OutputArrayOfArrays v);
+
+void loadCalibrationData(string filename, OutputArray cameraIntrinsic, OutputArray projectorIntrinsic, OutputArray cameraDistortion, OutputArray projectorDistortion, OutputArray rotation, OutputArray translation);
+
+void distortImage(InputArray input, InputArray camMat, InputArray dist, OutputArray output);
+
+}
+}
+
+#endif

modules/structured_light/include/opencv2/structured_light/slmono_utils.hpp

@@ -0,0 +1,41 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+#ifndef OPENCV_structured_light_mono_utils_HPP
+#define OPENCV_structured_light_mono_utils_HPP
+
+#include <opencv2/core.hpp>
+#include <opencv2/imgproc.hpp>
+
+using namespace std;
+
+namespace cv{
+namespace structured_light{
+
+    //compute atan2 for object and reference images
+    void computeAtanDiff(InputOutputArrayOfArrays src, OutputArray dst);
+
+    /**
+    Phase unwrapping algorithm based on PCG. 
+    **/
+    void unwrapPCG(InputArray img, OutputArray out, Size imgSize);
+
+    /**
+    Phase unwrapping algorithm based on TPU. 
+    **/
+    void unwrapTPU(InputArray phase1, InputArray phase2, OutputArray out, int scale);
+
+    void lowPassFilter(InputArray img, OutputArray out, int filterSize = 30);
+    void highPassFilter(InputArray img, OutputArray out, int filterSize = 30);
+
+    void calibrateCameraProjector();
+    void distortPatterns(); 
+    void undistortPatterns();
+
+    void savePointCloud(InputArray phase, string filename); //filter image from outliers and save as txt
+
+}
+}
+
+#endif