237 lines
9.3 KiB
C#
237 lines
9.3 KiB
C#
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#if !UNITY_WEBGL
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using OpenCVForUnity.CoreModule;
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using OpenCVForUnity.UtilsModule;
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using System;
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using System.Collections.Generic;
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using System.Runtime.InteropServices;
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namespace OpenCVForUnity.Structured_lightModule
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{
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// C++: class GrayCodePattern
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/**
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* Class implementing the Gray-code pattern, based on CITE: UNDERWORLD.
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*
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* The generation of the pattern images is performed with Gray encoding using the traditional white and black colors.
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*
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* The information about the two image axes x, y is encoded separately into two different pattern sequences.
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* 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
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* in Nrows = log 2 (P_res_y) encoded pattern images representing the rows.
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* For example a projector with resolution 1024x768 will result in Ncols = 10 and Nrows = 10.
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*
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* However, the generated pattern sequence consists of both regular color and color-inverted images: inverted pattern images are images
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* with the same structure as the original but with inverted colors.
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* This provides an effective method for easily determining the intensity value of each pixel when it is lit (highest value) and
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* 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.
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*
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*/
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public class GrayCodePattern : StructuredLightPattern
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{
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protected override void Dispose(bool disposing)
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{
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try
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{
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if (disposing)
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{
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}
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if (IsEnabledDispose)
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{
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if (nativeObj != IntPtr.Zero)
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structured_1light_GrayCodePattern_delete(nativeObj);
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nativeObj = IntPtr.Zero;
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}
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}
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finally
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{
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base.Dispose(disposing);
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}
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}
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protected internal GrayCodePattern(IntPtr addr) : base(addr) { }
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// internal usage only
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public static new GrayCodePattern __fromPtr__(IntPtr addr) { return new GrayCodePattern(addr); }
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//
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// C++: static Ptr_GrayCodePattern cv::structured_light::GrayCodePattern::create(int width, int height)
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//
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/**
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* Constructor
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* param width automatically generated
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* param height automatically generated
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* return automatically generated
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*/
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public static GrayCodePattern create(int width, int height)
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{
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return GrayCodePattern.__fromPtr__(DisposableObject.ThrowIfNullIntPtr(structured_1light_GrayCodePattern_create_10(width, height)));
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}
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//
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// C++: size_t cv::structured_light::GrayCodePattern::getNumberOfPatternImages()
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//
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/**
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* Get the number of pattern images needed for the graycode pattern.
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*
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* return The number of pattern images needed for the graycode pattern.
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*
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*/
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public long getNumberOfPatternImages()
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{
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ThrowIfDisposed();
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return structured_1light_GrayCodePattern_getNumberOfPatternImages_10(nativeObj);
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}
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//
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// C++: void cv::structured_light::GrayCodePattern::setWhiteThreshold(size_t value)
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//
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/**
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* Sets the value for white threshold, needed for decoding.
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*
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* 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.
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*
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* param value The desired white threshold value.
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*
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*/
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public void setWhiteThreshold(long value)
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{
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ThrowIfDisposed();
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structured_1light_GrayCodePattern_setWhiteThreshold_10(nativeObj, value);
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}
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//
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// C++: void cv::structured_light::GrayCodePattern::setBlackThreshold(size_t value)
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//
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/**
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* Sets the value for black threshold, needed for decoding (shadowsmasks computation).
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*
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* 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.
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*
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* param value The desired black threshold value.
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*
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*/
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public void setBlackThreshold(long value)
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{
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ThrowIfDisposed();
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structured_1light_GrayCodePattern_setBlackThreshold_10(nativeObj, value);
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}
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//
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// C++: void cv::structured_light::GrayCodePattern::getImagesForShadowMasks(Mat& blackImage, Mat& whiteImage)
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//
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/**
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* Generates the all-black and all-white images needed for shadowMasks computation.
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*
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* 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,
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* the 3DUNDERWORLD algorithm computes a shadow mask for the two cameras views, starting from a white and a black images captured by each camera.
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* This method generates these two additional images to project.
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*
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* param blackImage The generated all-black CV_8U image, at projector's resolution.
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* param whiteImage The generated all-white CV_8U image, at projector's resolution.
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*/
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public void getImagesForShadowMasks(Mat blackImage, Mat whiteImage)
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{
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ThrowIfDisposed();
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if (blackImage != null) blackImage.ThrowIfDisposed();
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if (whiteImage != null) whiteImage.ThrowIfDisposed();
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structured_1light_GrayCodePattern_getImagesForShadowMasks_10(nativeObj, blackImage.nativeObj, whiteImage.nativeObj);
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}
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//
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// C++: bool cv::structured_light::GrayCodePattern::getProjPixel(vector_Mat patternImages, int x, int y, Point& projPix)
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//
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/**
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* For a (x,y) pixel of a camera returns the corresponding projector pixel.
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*
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* 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,
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* providing a mapping between camera's and projector's pixel.
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*
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* param patternImages The pattern images acquired by the camera, stored in a grayscale vector < Mat >.
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* param x x coordinate of the image pixel.
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* param y y coordinate of the image pixel.
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* param 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.
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* return automatically generated
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*/
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public bool getProjPixel(List<Mat> patternImages, int x, int y, Point projPix)
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{
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ThrowIfDisposed();
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Mat patternImages_mat = Converters.vector_Mat_to_Mat(patternImages);
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double[] projPix_out = new double[2];
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bool retVal = structured_1light_GrayCodePattern_getProjPixel_10(nativeObj, patternImages_mat.nativeObj, x, y, projPix_out);
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if (projPix != null) { projPix.x = projPix_out[0]; projPix.y = projPix_out[1]; }
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return retVal;
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}
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#if (UNITY_IOS || UNITY_WEBGL) && !UNITY_EDITOR
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const string LIBNAME = "__Internal";
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#else
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const string LIBNAME = "opencvforunity";
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#endif
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// C++: static Ptr_GrayCodePattern cv::structured_light::GrayCodePattern::create(int width, int height)
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[DllImport(LIBNAME)]
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private static extern IntPtr structured_1light_GrayCodePattern_create_10(int width, int height);
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// C++: size_t cv::structured_light::GrayCodePattern::getNumberOfPatternImages()
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[DllImport(LIBNAME)]
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private static extern long structured_1light_GrayCodePattern_getNumberOfPatternImages_10(IntPtr nativeObj);
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// C++: void cv::structured_light::GrayCodePattern::setWhiteThreshold(size_t value)
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[DllImport(LIBNAME)]
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private static extern void structured_1light_GrayCodePattern_setWhiteThreshold_10(IntPtr nativeObj, long value);
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// C++: void cv::structured_light::GrayCodePattern::setBlackThreshold(size_t value)
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[DllImport(LIBNAME)]
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private static extern void structured_1light_GrayCodePattern_setBlackThreshold_10(IntPtr nativeObj, long value);
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// C++: void cv::structured_light::GrayCodePattern::getImagesForShadowMasks(Mat& blackImage, Mat& whiteImage)
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[DllImport(LIBNAME)]
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private static extern void structured_1light_GrayCodePattern_getImagesForShadowMasks_10(IntPtr nativeObj, IntPtr blackImage_nativeObj, IntPtr whiteImage_nativeObj);
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// C++: bool cv::structured_light::GrayCodePattern::getProjPixel(vector_Mat patternImages, int x, int y, Point& projPix)
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[DllImport(LIBNAME)]
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[return: MarshalAs(UnmanagedType.U1)]
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private static extern bool structured_1light_GrayCodePattern_getProjPixel_10(IntPtr nativeObj, IntPtr patternImages_mat_nativeObj, int x, int y, double[] projPix_out);
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// native support for java finalize()
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[DllImport(LIBNAME)]
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private static extern void structured_1light_GrayCodePattern_delete(IntPtr nativeObj);
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}
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}
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#endif
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