decode_structured_light_pattern — Decode the camera images acquired with a structured light setup.
decode_structured_light_pattern decodes the camera images
CameraImages that have been previously acquired with a structured
light setup. The correspondence images and other intermediate results that
are created by the decoding process are stored in the model
StructuredLightModel and can be accessed afterwards using the
In the following, the decoding process is explained in detail:
As mentioned in
gen_structured_light_pattern the first purpose is to
find out whether a pixel is in a region where a light stripe is reflected or
where a dark stripe is reflected. To simplify this decision process the
normalization images are used and a locally varying threshold is
determined that is able to cope with objects of varying reflectance and
During the decoding of the acquired camera images all Gray code images are
then compared with the previously calculated threshold. A pixel within the
image is classified as bright if its gray value is greater or
equal this threshold.
Furthermore, the pattern region is segmented during the decoding process.
The segmentation is controlled by the parameter
Assuming that n Gray code images have been processed, we get a n-bit binary code for each pixel. From this sequence the row and column coordinates up to of the monitor can be derived.
StructuredLightModel is a hybrid system consisting not only
of Gray code images but also of phase shift images
gen_structured_light_pattern), the next step is to decode the
latter ones. The result is a subpixel-precise correspondence image between
the monitor coordinates and the camera coordinates that contains the
information which camera pixel observes which monitor pixel.
If the 'pattern_type' of the
StructuredLightModel is set to
'single_stripe', the first step in the decoding process is to
decide which single stripe shed its light on a camera pixel. The Gray code
sequence and phase are then used to refine the position within the
found single stripe.
In real world setups it may occur that the detected Gray code sequence of a pixel is wrong. This can then lead to values in the correspondence images which represent monitor rows or columns larger than the monitor width and height. To avoid these problems, the last step of the decoding process is to remove these values from the correspondence images.
This operator modifies the state of the following input parameter:
During execution of this operator, access to the value of this parameter must be synchronized if it is used across multiple threads.
→object (byte / uint2)
Acquired camera images.
StructuredLightModel(input_control, state is modified) structured_light_model
Handle of the structured light model.
* Create the model create_structured_light_model ('deflectometry', StructuredLightModel) * Set the size of the monitor set_structured_light_model_param (StructuredLightModel, \ 'pattern_width', 1600) set_structured_light_model_param (StructuredLightModel, \ 'pattern_height', 1200) * Set the smallest width of the stripes in the pattern set_structured_light_model_param (StructuredLightModel, \ 'min_stripe_width', 8) * Generate the patterns to project gen_structured_light_pattern (PatternImages, StructuredLightModel) * Set the expected black/white contrast in the region of interest set_structured_light_model_param (StructuredLightModel, \ 'min_gray_difference', 70) * Decode the camera images decode_structured_light_pattern (CameraImages, StructuredLightModel) * Get the computed correspondences and defects get_structured_light_object (CorrespondenceImages, StructuredLightModel, \ 'correspondence_image') set_structured_light_model_param (StructuredLightModel, 'derivative_sigma', \ Sigma) get_structured_light_object (DefectImage, StructuredLightModel, \ 'defect_image')
decode_structured_light_pattern returns the
value 2 (H_MSG_TRUE) if the given parameters are valid. Otherwise, an exception will be