structured_light: GreyCodePattern 16-bit support and performance improvements #3992
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…ovements - Vastly improve performance of the GreyCodePattern structured light algorithm by leveraging built-in OpenCV functions and parallel code instead of raw loops, at the cost of a bit more memory (decoding a set of 96 5320x4600 images acquired using stereo cameras goes from taking ~100 seconds to taking ~2.5 seconds, in release mode) - Automatically gain the ability to decode 16-bit images (switching from raw loops and uchar-indexing to OpenCV functions gives this for free) Manual testing was done to ensure that the calculated results are correct, both for generation of the patterns and for decoding, in both Debug and Release mode, using real world data.
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This PR aims to greatly improve performance of the GreyCodePattern algorithm in the StructuredLight module. It does so by caching and pre-calculating a bunch of stuff needed for the computation and instead of doing manual looping and indexing over the matrices it leverages built-in opencv functions to automatically parallelize work (as well as doing some manual parallelization). Additionally, thanks to the fact that it is using opencv functions, it gains the ability to correctly process 16-bit images, which is a plus.
Work done in more detail:
Manual testing was done to ensure that the calculated results are correct, both for generation of the patterns and for decoding, in both Debug and Release mode, using real world data.
Pull Request Readiness Checklist
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
Patch to opencv_extra has the same branch name.