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41 
42 #ifndef __OPENCV_SINUSOIDAL_PATTERN_HPP__
43 #define __OPENCV_SINUSOIDAL_PATTERN_HPP__
44 
45 #include "opencv2/core.hpp"
46 #include "opencv2/imgproc.hpp"
47 #include "opencv2/structured_light/structured_light.hpp"
48 #include <opencv2/phase_unwrapping.hpp>
49 #include <opencv2/calib3d.hpp>
50 
51 namespace cv {
52 namespace structured_light {
53 //! @addtogroup structured_light
54 //! @{
55 
56  //! Type of sinusoidal pattern profilometry methods.
57 enum{
58   FTP = 0,
59   PSP = 1,
60   FAPS = 2
61  };
62 /**
63  * @brief Class implementing Fourier transform profilometry (FTP) , phase-shifting profilometry (PSP)
64  * and Fourier-assisted phase-shifting profilometry (FAPS) based on @cite faps.
65 
66  * This class generates sinusoidal patterns that can be used with FTP, PSP and FAPS.
67 */
68 class CV_EXPORTS_W SinusoidalPattern : public StructuredLightPattern
69 {
70 public:
71     /**
72      * @brief Parameters of SinusoidalPattern constructor
73      * @param width Projector's width.
74      * @param height Projector's height.
75      * @param nbrOfPeriods Number of period along the patterns direction.
76      * @param shiftValue Phase shift between two consecutive patterns.
77      * @param methodId Allow to choose between FTP, PSP and FAPS.
78      * @param nbrOfPixelsBetweenMarkers Number of pixels between two consecutive markers on the same row.
79      * @param setMarkers Allow to set markers on the patterns.
80      * @param markersLocation vector used to store markers location on the patterns.
81      */
82     struct CV_EXPORTS_W Params
83     {
84         CV_WRAP Params();
85         CV_PROP_RW int width;
86         CV_PROP_RW int height;
87         CV_PROP_RW int nbrOfPeriods;
88         CV_PROP_RW float shiftValue;
89         CV_PROP_RW int methodId;
90         CV_PROP_RW int nbrOfPixelsBetweenMarkers;
91         CV_PROP_RW bool horizontal;
92         CV_PROP_RW bool setMarkers;
93         std::vector<Point2f> markersLocation;
94     };
95     /**
96      * @brief Constructor.
97      * @param parameters SinusoidalPattern parameters SinusoidalPattern::Params: width, height of the projector and patterns parameters.
98      *
99      */
100     CV_WRAP static Ptr<SinusoidalPattern> create( Ptr<SinusoidalPattern::Params> parameters =
101                                           makePtr<SinusoidalPattern::Params>() );
102     /**
103      * @brief Compute a wrapped phase map from sinusoidal patterns.
104      * @param patternImages Input data to compute the wrapped phase map.
105      * @param wrappedPhaseMap Wrapped phase map obtained through one of the three methods.
106      * @param shadowMask Mask used to discard shadow regions.
107      * @param fundamental Fundamental matrix used to compute epipolar lines and ease the matching step.
108      */
109     CV_WRAP
110     virtual void computePhaseMap( InputArrayOfArrays patternImages,
111                                   OutputArray wrappedPhaseMap,
112                                   OutputArray shadowMask = noArray(),
113                                   InputArray fundamental = noArray()) = 0;
114     /**
115      * @brief Unwrap the wrapped phase map to remove phase ambiguities.
116      * @param wrappedPhaseMap The wrapped phase map computed from the pattern.
117      * @param unwrappedPhaseMap The unwrapped phase map used to find correspondences between the two devices.
118      * @param camSize Resolution of the camera.
119      * @param shadowMask Mask used to discard shadow regions.
120      */
121     CV_WRAP
122     virtual void unwrapPhaseMap( InputArray wrappedPhaseMap,
123                                  OutputArray unwrappedPhaseMap,
124                                  cv::Size camSize,
125                                  InputArray shadowMask = noArray() ) = 0;
126     /**
127      * @brief Find correspondences between the two devices thanks to unwrapped phase maps.
128      * @param projUnwrappedPhaseMap Projector's unwrapped phase map.
129      * @param camUnwrappedPhaseMap Camera's unwrapped phase map.
130      * @param matches Images used to display correspondences map.
131      */
132     CV_WRAP
133     virtual void findProCamMatches( InputArray projUnwrappedPhaseMap, InputArray camUnwrappedPhaseMap,
134                                     OutputArrayOfArrays matches ) = 0;
135 
136     /**
137      * @brief compute the data modulation term.
138      * @param patternImages captured images with projected patterns.
139      * @param dataModulationTerm Mat where the data modulation term is saved.
140      * @param shadowMask Mask used to discard shadow regions.
141      */
142     CV_WRAP
143     virtual void computeDataModulationTerm( InputArrayOfArrays patternImages,
144                                             OutputArray dataModulationTerm,
145                                             InputArray shadowMask ) = 0;
146 
147 };
148 //! @}
149 }
150 }
151 #endif
152