WebSVN – seema-scanner – Diff – /src/algorithm/AlgorithmGrayCode.cpp


#include "AlgorithmGrayCode.h"
#include <cmath>
#include "cvtools.h"
 
#ifndef log2f
#define log2f(x) (log(x)/log(2.0))
#endif
 
//using namespace std;
 
/*
 * The purpose of this function is to convert an unsigned
 * binary number to reflected binary Gray code.
 *
 * The operator >> is shift right. The operator ^ is exclusive or.
 * Source: http://en.wikipedia.org/wiki/Gray_code
 */
static unsigned int binaryToGray(unsigned int num) {
    return (num >> 1) ^ num;
}
 
/*
 * From Wikipedia: http://en.wikipedia.org/wiki/Gray_code
 * The purpose of this function is to convert a reflected binary
 * Gray code number to a binary number.
 */
static unsigned int grayToBinary(unsigned int num){
    unsigned int mask;
    for(mask = num >> 1; mask != 0; mask = mask >> 1)
        num = num ^ mask;
    return num;
}
 
/*
 * Return the Nth bit of an unsigned integer number
 */
static bool getBit(int decimal, int N){
 
    return decimal & 1 << (N-1);
}
 
/*
 * Return the number of bits set in an integer
 */
static int countBits(int n) {
  unsigned int c; // c accumulates the total bits set in v
  for (c = 0; n>0; c++)
    n &= n - 1; // clear the least significant bit set
  return c;
}
 
/*
 * Return the position of the least significant bit that is set
 */
static int leastSignificantBitSet(int x){
  if(x == 0)
      return 0;
 
  int val = 1;
  while(x>>=1)
      val++;
 
  return val;
}
 
//static int get_bit(int decimal, int N){
 
//    // Shifting the 1 for N-1 bits
//    int constant = 1 << (N-1);
 
//    // If the bit is set, return 1
//    if( decimal & constant )
//        return 1;
//    else
//        return 0;
//}
 
static inline unsigned int powi(int num, unsigned int exponent){
 
    if(exponent == 0)
        return 1;
 
    float res = num;
    for(unsigned int i=0; i<exponent-1; i++)
        res *= num;
 
    return res;
}
 
static inline unsigned int twopowi(unsigned int exponent){
 
    return 1 << exponent;
}
 
// Algorithm
AlgorithmGrayCode::AlgorithmGrayCode(unsigned int _screenCols, unsigned int _screenRows) : Algorithm(_screenCols, _screenRows){
 
    Nbits = ceilf(log2f((float)screenCols));
    N = 2 + Nbits*2;
 
    // all on pattern
    cv::Mat allOn(1, screenCols, CV_8UC3, cv::Scalar::all(255));
    patterns.push_back(allOn);
 
    // all off pattern
    cv::Mat allOff(1, screenCols, CV_8UC3, cv::Scalar::all(0));
    patterns.push_back(allOff);
 
 
    // horizontally encoding patterns
    for(unsigned int p=0; p<Nbits; p++){
        cv::Mat pattern(1, screenCols, CV_8UC3);
        cv::Mat patternInv(1, screenCols, CV_8UC3);
 
        for(unsigned int j=0; j<screenCols; j++){
 
            unsigned int jGray = binaryToGray(j);
            // Amplitude of channels
            int bit = (int)getBit(jGray, Nbits-p);
            pattern.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0*bit,255.0*bit,255.0*bit);
            int invBit = bit^1;
            patternInv.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0*invBit,255.0*invBit,255.0*invBit);
        }
        patterns.push_back(pattern);
        patterns.push_back(patternInv);
    }
 
 
}
 
cv::Mat AlgorithmGrayCode::getEncodingPattern(unsigned int depth){
    return patterns[depth];
}
 
 
bool sortingLarger(cv::Vec4i i,cv::Vec4i j){ return (i[3]<j[3]);}
bool sortingEqual(cv::Vec4i i,cv::Vec4i j){ return (i[3]==j[3]);}
void getEdgeLabels(const cv::Mat& scanLine, int Nbits, std::vector<cv::Vec4i>& edges){
 
    int nCols = scanLine.cols;
    const int *data = scanLine.ptr<const int>(0);
 
    int labelLeft;
    int labelRight = data[0];
 
    // collect edges
    for(int col=1; col<nCols; col++){
 
        labelLeft = labelRight;
        labelRight = data[col];
 
        // labels need to be non-background, and differ in exactly one bit
        if(labelLeft != -1 && labelRight != -1 && countBits(labelLeft^labelRight) == 1){
            int orderingRelation = (labelLeft << Nbits) + labelRight;
            // store left label column
            edges.push_back(cv::Vec4i(col-1, labelLeft, labelRight, orderingRelation));
        }
    }
 
    // sort
    std::sort(edges.begin(), edges.end(), sortingLarger);
 
    // remove duplicates
    std::vector<cv::Vec4i>::iterator it;
    it = std::unique(edges.begin(), edges.end(), sortingEqual);
    edges.resize(std::distance(edges.begin(),it));
}
 
static cv::Vec3b getColorSubpix(const cv::Mat& img, cv::Point2f pt){
    assert(!img.empty());
    assert(img.channels() == 3);
 
    int x = (int)pt.x;
    int y = (int)pt.y;
 
    int x0 = cv::borderInterpolate(x,   img.cols, cv::BORDER_REFLECT_101);
    int x1 = cv::borderInterpolate(x+1, img.cols, cv::BORDER_REFLECT_101);
    int y0 = cv::borderInterpolate(y,   img.rows, cv::BORDER_REFLECT_101);
    int y1 = cv::borderInterpolate(y+1, img.rows, cv::BORDER_REFLECT_101);
 
    float a = pt.x - (float)x;
    float c = pt.y - (float)y;
 
    uchar b = (uchar)cvRound((img.at<cv::Vec3b>(y0, x0)[0] * (1.f - a) + img.at<cv::Vec3b>(y0, x1)[0] * a) * (1.f - c)
                           + (img.at<cv::Vec3b>(y1, x0)[0] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[0] * a) * c);
    uchar g = (uchar)cvRound((img.at<cv::Vec3b>(y0, x0)[1] * (1.f - a) + img.at<cv::Vec3b>(y0, x1)[1] * a) * (1.f - c)
                           + (img.at<cv::Vec3b>(y1, x0)[1] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[1] * a) * c);
    uchar r = (uchar)cvRound((img.at<cv::Vec3b>(y0, x0)[2] * (1.f - a) + img.at<cv::Vec3b>(y0, x1)[2] * a) * (1.f - c)
                           + (img.at<cv::Vec3b>(y1, x0)[2] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[2] * a) * c);
 
    return cv::Vec3b(b, g, r);
}
 
void AlgorithmGrayCode::get3DPoints(SMCalibrationParameters calibration, const std::vector<cv::Mat>& frames0, const std::vector<cv::Mat>& frames1, std::vector<cv::Point3f>& Q, std::vector<cv::Vec3b>& color){
 
    assert(frames0.size() == N);
    assert(frames1.size() == N);
 
//    for(int i=0; i<1920; i++){
//        std::cout << i << " " << binaryToGray(i) << " " << grayToBinary(binaryToGray(i)) << std::endl;
//    }
 
    int frameRows = frames0[0].rows;
    int frameCols = frames0[0].cols;
 
    // rectifying homographies (rotation+projections)
    cv::Size frameSize(frameCols, frameRows);
    cv::Mat R, T;
    // stereoRectify segfaults unless R is double precision
    cv::Mat(calibration.R1).convertTo(R, CV_64F);
    cv::Mat(calibration.T1).convertTo(T, CV_64F);
    cv::Mat R0, R1, P0, P1, QRect;
    cv::stereoRectify(calibration.K0, calibration.k0, calibration.K1, calibration.k1, frameSize, R, T, R0, R1, P0, P1, QRect, 0);
 
//    std::cout << "R0" << std::endl << R0 << std::endl;
//    std::cout << "P0" << std::endl << P0 << std::endl;
//    std::cout << "R1" << std::endl << R1 << std::endl;
//    std::cout << "P1" << std::endl << P1 << std::endl;
 
    // interpolation maps
    cv::Mat map0X, map0Y, map1X, map1Y;
    cv::initUndistortRectifyMap(calibration.K0, calibration.k0, R0, P0, frameSize, CV_32F, map0X, map0Y);
    cv::initUndistortRectifyMap(calibration.K1, calibration.k1, R1, P1, frameSize, CV_32F, map1X, map1Y);
 
    // gray-scale and remap
    std::vector<cv::Mat> frames0Rect(N);
    std::vector<cv::Mat> frames1Rect(N);
    for(int i=0; i<N; i++){
        cv::Mat temp;
        cv::cvtColor(frames0[i], temp, CV_BayerBG2GRAY);
        cv::remap(temp, frames0Rect[i], map0X, map0Y, CV_INTER_LINEAR);
        cv::cvtColor(frames1[i], temp, CV_BayerBG2GRAY);
        cv::remap(temp, frames1Rect[i], map1X, map1Y, CV_INTER_LINEAR);
    }
 
 
//    cvtools::writeMat(frames0Rect[0], "frames0Rect_0.mat", "frames0Rect_0");
//    cvtools::writeMat(frames0[0], "frames0_0.mat", "frames0_0");
 
//    cvtools::writeMat(frames0Rect[22], "frames0Rect_22.mat", "frames0Rect_22");
//    cvtools::writeMat(frames0Rect[23], "frames0Rect_23.mat", "frames0Rect_23");
 
//    cv::imwrite("frames0[0].png", frames0[0]);
//    cv::imwrite("frames0Rect[0].png", frames0Rect[0]);
 
//    cv::imwrite("frames1[0].png", frames1[0]);
//    cv::imwrite("frames1Rect[0].png", frames1Rect[0]);
 
    // color debayer and remap
 
    cv::Mat color0Rect, color1Rect;
    frames0[0].convertTo(color0Rect, CV_8UC1, 1.0/256.0);
    cv::cvtColor(color0Rect, color0Rect, CV_BayerBG2RGB);
    cv::remap(color0Rect, color0Rect, map0X, map0Y, CV_INTER_LINEAR);
 
    frames1[0].convertTo(color1Rect, CV_8UC1, 1.0/256.0);
    cv::cvtColor(color1Rect, color1Rect, CV_BayerBG2RGB);
    cv::remap(color1Rect, color1Rect, map1X, map1Y, CV_INTER_LINEAR);
 
    int frameRectRows = frames0Rect[0].rows;
    int frameRectCols = frames0Rect[0].cols;
 
//cvtools::writeMat(frames0Rect[0], "frames0Rect_0.mat", "frames0Rect_0");
//cvtools::writeMat(frames0Rect[1], "frames0Rect_1.mat", "frames0Rect_1");
//cvtools::writeMat(frames0Rect[20], "frames0Rect_20.mat", "frames0Rect_20");
//cvtools::writeMat(frames0Rect[21], "frames0Rect_21.mat", "frames0Rect_21");
 
    // occlusion masks
    cv::Mat occlusion0Rect, occlusion1Rect;
    cv::subtract(frames0Rect[0], frames0Rect[1], occlusion0Rect);
    occlusion0Rect = (occlusion0Rect > 16000) & (occlusion0Rect < 54000);
    cv::subtract(frames1Rect[0], frames1Rect[1], occlusion1Rect);
    occlusion1Rect = (occlusion1Rect > 16000) & (occlusion1Rect < 54000);
 
    // erode occlusion masks
    cv::Mat strel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(2,2));
    cv::erode(occlusion0Rect, occlusion0Rect, strel);
    cv::erode(occlusion1Rect, occlusion1Rect, strel);
 
//cvtools::writeMat(frames0Rect[0], "frames0Rect_0.mat", "frames0Rect_0");
//cvtools::writeMat(frames0Rect[1], "frames0Rect_1.mat", "frames0Rect_1");
//cvtools::writeMat(frames0Rect[20], "frames0Rect_20.mat", "frames0Rect_20");
//cvtools::writeMat(frames0Rect[21], "frames0Rect_21.mat", "frames0Rect_21");
 
//    // correct for projector inversion error
//    cv::Mat W;
//    cv::add(frames0Rect[0], frames0Rect[1], W, cv::noArray(), CV_32F);
//    for(int i=2; i<N; i+=2){
//        cv::Mat S, E;
//        cv::add(frames0Rect[i], frames0Rect[i+1], S, cv::noArray(), CV_32F);
//        cv::subtract(W, S, E, cv::noArray(), CV_32F);
//        E *= 0.5;
//        cv::add(frames0Rect[i], E, frames0Rect[i], cv::noArray(), CV_16UC1);
//        cv::add(frames0Rect[i+1], E, frames0Rect[i+1], cv::noArray(), CV_16UC1);
//    }
 
 
    // correct for texture modulation and ambient
    cv::Mat A0 = frames0Rect[1];
    cv::Mat M0 = frames0Rect[0]-frames0Rect[1];
//cvtools::writeMat(A0, "A0.mat", "A0");
//cvtools::writeMat(M0, "M0.mat", "M0");
//cvtools::writeMat(frames0Rect[20], "frames0Rect_20.mat", "frames0Rect_20");
//cvtools::writeMat(frames0Rect[21], "frames0Rect_21.mat", "frames0Rect_21");
    cv::divide(65536.0, M0, M0, CV_32F);
    cv::Mat A1 = frames1Rect[1];
    cv::Mat M1 = frames1Rect[0]-frames1Rect[1];
    cv::divide(65536.0, M1, M1, CV_32F);
 
    for(int i=2; i<N; i++){
        cv::multiply(frames0Rect[i]-A0, M0, frames0Rect[i], 1.0, CV_16UC1);
        cv::multiply(frames1Rect[i]-A1, M1, frames1Rect[i], 1.0, CV_16UC1);
    }
 
//cvtools::writeMat(frames0Rect[22], "frames0Rect_22.mat", "frames0Rect_22");
//cvtools::writeMat(frames0Rect[23], "frames0Rect_23.mat", "frames0Rect_23");
 
//cvtools::writeMat(occlusion0Rect, "occlusion0Rect.mat", "occlusion0Rect");
//cvtools::writeMat(occlusion1Rect, "occlusion1Rect.mat", "occlusion1Rect");
 
    // decode patterns
    cv::Mat code0Rect(frameRectRows, frameRectCols, CV_32S, cv::Scalar(0));
    cv::Mat code1Rect(frameRectRows, frameRectCols, CV_32S, cv::Scalar(0));
 
    // into gray code
    for(int i=0; i<Nbits; i++){
        cv::Mat temp, bit0, bit1;
 
        cv::compare(frames0Rect[i*2+2], frames0Rect[i*2+3], temp, cv::CMP_GT);
        //cvtools::rshift(temp, 8);
        temp.convertTo(bit0, CV_32S, 1.0/255.0);
 
        cv::add(code0Rect, bit0*twopowi(Nbits-i-1), code0Rect, cv::noArray(), CV_32S);
 
 
        cv::compare(frames1Rect[i*2+2], frames1Rect[i*2+3], temp, cv::CMP_GT);
        //cvtools::rshift(temp, 8);
        temp.convertTo(bit1, CV_32S, 1.0/255.0);
        cv::add(code1Rect, bit1*twopowi(Nbits-i-1), code1Rect, cv::noArray(), CV_32S);
    }
 
cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");
cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");
 
 
//    // convert to standard binary
//    cv::Mat code0Binary(code0Rect.rows, code0Rect.cols, CV_32F);
//    cv::Mat code1Binary(code1Rect.rows, code1Rect.cols, CV_32F);
//    for(int r=0; r<frameRectRows; r++){
//        for(int c=0; c<frameRectCols; c++){
//            if(code0Rect.at<int>(r,c) != -1)
//                code0Binary.at<float>(r,c) = grayToBinary(code0Rect.at<int>(r,c));
//            if(code1Rect.at<int>(r,c) != -1)
//                code1Binary.at<float>(r,c) = grayToBinary(code1Rect.at<int>(r,c));
//        }
//    }
 
//cvtools::writeMat(code0Binary, "code0Binary.mat", "code0Binary");
//cvtools::writeMat(code1Binary, "code1Binary.mat", "code1Binary");
 
//    // threshold on vertical discontinuities (due to imperfect rectification)
//    cv::Mat edges0;
//    cv::Sobel(code0Binary, edges0, -1, 0, 1, 5);
//    occlusion0Rect = occlusion0Rect & (abs(edges0) < 50);
 
//    cv::Mat edges1;
//    cv::Sobel(code1Binary, edges1, -1, 0, 1, 5);
//    occlusion1Rect = occlusion1Rect & (abs(edges1) < 50);
 
//cvtools::writeMat(edges0, "edges0.mat", "edges0");
//cvtools::writeMat(edges1, "edges1.mat", "edges1");
 
    // set occluded pixels to -1
    for(int r=0; r<frameRectRows; r++){
        for(int c=0; c<frameRectCols; c++){
            if(occlusion0Rect.at<unsigned char>(r,c) == 0)
                code0Rect.at<int>(r,c) = -1;
            if(occlusion1Rect.at<unsigned char>(r,c) == 0)
                code1Rect.at<int>(r,c) = -1;
        }
    }
 
//    cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");
//    cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");
 
    // matching
    std::vector<cv::Vec2f> q0Rect, q1Rect;
    for(int row=0; row<frameRectRows; row++){
 
        // edge data structure containing [floor(column), labelLeft, labelRight, orderingRelation]
        std::vector<cv::Vec4i> edges0, edges1;
 
        // sorted, unique edges
        getEdgeLabels(code0Rect.row(row), Nbits, edges0);
        getEdgeLabels(code1Rect.row(row), Nbits, edges1);
 
        // match edges
        std::vector<cv::Vec4i> matchedEdges0, matchedEdges1;
        int i=0, j=0;
        while(i<edges0.size() && j<edges1.size()){
 
            if(edges0[i][3] == edges1[j][3]){
                matchedEdges0.push_back(edges0[i]);
                matchedEdges1.push_back(edges1[j]);
                i += 1;
                j += 1;
            } else if(edges0[i][3] < edges1[j][3]){
                i += 1;
            } else if(edges0[i][3] > edges1[j][3]){
                j += 1;
            }
        }
 
        // crude subpixel refinement
        // finds the intersection of linear interpolants in the positive/negative pattern
        for(int i=0; i<matchedEdges0.size(); i++){
 
            int level = Nbits - leastSignificantBitSet(matchedEdges0[i][1]^matchedEdges0[i][2]);
 
            // refine for camera 0
            float c0 = matchedEdges0[i][0];
            float c1 = c0+1;
 
            float pos0 = frames0Rect[2*level+2].at<unsigned short>(row, c0);
            float pos1 = frames0Rect[2*level+2].at<unsigned short>(row, c1);
            float neg0 = frames0Rect[2*level+3].at<unsigned short>(row, c0);
            float neg1 = frames0Rect[2*level+3].at<unsigned short>(row, c1);
 
            float col = c0 + (pos0 - neg0)/(neg1 - neg0 - pos1 + pos0);
            q0Rect.push_back(cv::Point2f(col, row));
 
            // refine for camera 1
            c0 = matchedEdges1[i][0];
            c1 = c0+1;
 
            pos0 = frames1Rect[2*level+2].at<unsigned short>(row, c0);
            pos1 = frames1Rect[2*level+2].at<unsigned short>(row, c1);
            neg0 = frames1Rect[2*level+3].at<unsigned short>(row, c0);
            neg1 = frames1Rect[2*level+3].at<unsigned short>(row, c1);
 
            col = c0 + (pos0 - neg0)/(neg1 - neg0 - pos1 + pos0);
            q1Rect.push_back(cv::Point2f(col, row));
 
        }
 
    }
 
    int nMatches = q0Rect.size();
 
    if(nMatches < 1){
        Q.resize(0);
        color.resize(0);
 
        return;
    }
 
    // retrieve color information (at integer coordinates)
    color.resize(nMatches);
    for(int i=0; i<nMatches; i++){
 
        cv::Vec3b c0 = color0Rect.at<cv::Vec3b>(q0Rect[i][1], q0Rect[i][0]);
        cv::Vec3b c1 = color1Rect.at<cv::Vec3b>(q1Rect[i][1], q1Rect[i][0]);
//        cv::Vec3b c0 = getColorSubpix(color0Rect, q0Rect[i]);
//        cv::Vec3b c1 = getColorSubpix(color1Rect, q0Rect[i]);
 
        color[i] = 0.5*c0 + 0.5*c1;
    }
 
    // triangulate points
    cv::Mat QMatHomogenous, QMat;
//    cv::Mat C0 = P0.clone();
//    cv::Mat C1 = P1.clone();
//    C0.colRange(0, 3) = C0.colRange(0, 3)*R0;
//    C1.colRange(0, 3) = C1.colRange(0, 3)*R1.t();
    cv::triangulatePoints(P0, P1, q0Rect, q1Rect, QMatHomogenous);
    cvtools::convertMatFromHomogeneous(QMatHomogenous, QMat);
 
    // undo rectifying rotation
    cv::Mat R0Inv;
    cv::Mat(R0.t()).convertTo(R0Inv, CV_32F);
    QMat = R0Inv*QMat;
 
    cvtools::matToPoints3f(QMat, Q);
 
}
 

Rev 114	Rev 120
1	`#include "AlgorithmGrayCode.h"`	1	`#include "AlgorithmGrayCode.h"`
2	`#include <cmath>`	2	`#include <cmath>`
3	`#include "cvtools.h"`	3	`#include "cvtools.h"`
4		4
5	`#ifndef log2f`	5	`#ifndef log2f`
6	`#define log2f(x) (log(x)/log(2.0))`	6	`#define log2f(x) (log(x)/log(2.0))`
7	`#endif`	7	`#endif`
8		8
9	`//using namespace std;`	9	`//using namespace std;`
10		10
11	`/*`	11	`/*`
12	`* The purpose of this function is to convert an unsigned`	12	`* The purpose of this function is to convert an unsigned`
13	`* binary number to reflected binary Gray code.`	13	`* binary number to reflected binary Gray code.`
14	`*`	14	`*`
15	`* The operator >> is shift right. The operator ^ is exclusive or.`	15	`* The operator >> is shift right. The operator ^ is exclusive or.`
16	`* Source: http://en.wikipedia.org/wiki/Gray_code`	16	`* Source: http://en.wikipedia.org/wiki/Gray_code`
17	`*/`	17	`*/`
18	`static unsigned int binaryToGray(unsigned int num) {`	18	`static unsigned int binaryToGray(unsigned int num) {`
19	`return (num >> 1) ^ num;`	19	`return (num >> 1) ^ num;`
20	`}`	20	`}`
21		21
22	`/*`	22	`/*`
23	`* From Wikipedia: http://en.wikipedia.org/wiki/Gray_code`	23	`* From Wikipedia: http://en.wikipedia.org/wiki/Gray_code`
24	`* The purpose of this function is to convert a reflected binary`	24	`* The purpose of this function is to convert a reflected binary`
25	`* Gray code number to a binary number.`	25	`* Gray code number to a binary number.`
26	`*/`	26	`*/`
27	`static unsigned int grayToBinary(unsigned int num){`	27	`static unsigned int grayToBinary(unsigned int num){`
28	`unsigned int mask;`	28	`unsigned int mask;`
29	`for(mask = num >> 1; mask != 0; mask = mask >> 1)`	29	`for(mask = num >> 1; mask != 0; mask = mask >> 1)`
30	`num = num ^ mask;`	30	`num = num ^ mask;`
31	`return num;`	31	`return num;`
32	`}`	32	`}`
33		33
34	`/*`	34	`/*`
35	`* Return the Nth bit of an unsigned integer number`	35	`* Return the Nth bit of an unsigned integer number`
36	`*/`	36	`*/`
37	`static bool getBit(int decimal, int N){`	37	`static bool getBit(int decimal, int N){`
38		38
39	`return decimal & 1 << (N-1);`	39	`return decimal & 1 << (N-1);`
40	`}`	40	`}`
41		41
42	`/*`	42	`/*`
43	`* Return the number of bits set in an integer`	43	`* Return the number of bits set in an integer`
44	`*/`	44	`*/`
45	`static int countBits(int n) {`	45	`static int countBits(int n) {`
46	`unsigned int c; // c accumulates the total bits set in v`	46	`unsigned int c; // c accumulates the total bits set in v`
47	`for (c = 0; n>0; c++)`	47	`for (c = 0; n>0; c++)`
48	`n &= n - 1; // clear the least significant bit set`	48	`n &= n - 1; // clear the least significant bit set`
49	`return c;`	49	`return c;`
50	`}`	50	`}`
51		51
52	`/*`	52	`/*`
53	`* Return the position of the least significant bit that is set`	53	`* Return the position of the least significant bit that is set`
54	`*/`	54	`*/`
55	`static int leastSignificantBitSet(int x){`	55	`static int leastSignificantBitSet(int x){`
56	`if(x == 0)`	56	`if(x == 0)`
57	`return 0;`	57	`return 0;`
58		58
59	`int val = 1;`	59	`int val = 1;`
60	`while(x>>=1)`	60	`while(x>>=1)`
61	`val++;`	61	`val++;`
62		62
63	`return val;`	63	`return val;`
64	`}`	64	`}`
65		65
66	`//static int get_bit(int decimal, int N){`	66	`//static int get_bit(int decimal, int N){`
67		67
68	`// // Shifting the 1 for N-1 bits`	68	`// // Shifting the 1 for N-1 bits`
69	`// int constant = 1 << (N-1);`	69	`// int constant = 1 << (N-1);`
70		70
71	`// // If the bit is set, return 1`	71	`// // If the bit is set, return 1`
72	`// if( decimal & constant )`	72	`// if( decimal & constant )`
73	`// return 1;`	73	`// return 1;`
74	`// else`	74	`// else`
75	`// return 0;`	75	`// return 0;`
76	`//}`	76	`//}`
77		77
78	`static inline unsigned int powi(int num, unsigned int exponent){`	78	`static inline unsigned int powi(int num, unsigned int exponent){`
79		79
80	`if(exponent == 0)`	80	`if(exponent == 0)`
81	`return 1;`	81	`return 1;`
82		82
83	`float res = num;`	83	`float res = num;`
84	`for(unsigned int i=0; i<exponent-1; i++)`	84	`for(unsigned int i=0; i<exponent-1; i++)`
85	`res *= num;`	85	`res *= num;`
86		86
87	`return res;`	87	`return res;`
88	`}`	88	`}`
89		89
90	`static inline unsigned int twopowi(unsigned int exponent){`	90	`static inline unsigned int twopowi(unsigned int exponent){`
91		91
92	`return 1 << exponent;`	92	`return 1 << exponent;`
93	`}`	93	`}`
94		94
95	`// Algorithm`	95	`// Algorithm`
96	`AlgorithmGrayCode::AlgorithmGrayCode(unsigned int _screenCols, unsigned int _screenRows) : Algorithm(_screenCols, _screenRows){`	96	`AlgorithmGrayCode::AlgorithmGrayCode(unsigned int _screenCols, unsigned int _screenRows) : Algorithm(_screenCols, _screenRows){`
97		97
98	`Nbits = ceilf(log2f((float)screenCols));`	98	`Nbits = ceilf(log2f((float)screenCols));`
99	`N = 2 + Nbits*2;`	99	`N = 2 + Nbits*2;`
100		100
101	`// all on pattern`	101	`// all on pattern`
102	`cv::Mat allOn(1, screenCols, CV_8UC3, cv::Scalar::all(255));`	102	`cv::Mat allOn(1, screenCols, CV_8UC3, cv::Scalar::all(255));`
103	`patterns.push_back(allOn);`	103	`patterns.push_back(allOn);`
104		104
105	`// all off pattern`	105	`// all off pattern`
106	`cv::Mat allOff(1, screenCols, CV_8UC3, cv::Scalar::all(0));`	106	`cv::Mat allOff(1, screenCols, CV_8UC3, cv::Scalar::all(0));`
107	`patterns.push_back(allOff);`	107	`patterns.push_back(allOff);`
108		108
109		109
110	`// horizontally encoding patterns`	110	`// horizontally encoding patterns`
111	`for(unsigned int p=0; p<Nbits; p++){`	111	`for(unsigned int p=0; p<Nbits; p++){`
112	`cv::Mat pattern(1, screenCols, CV_8UC3);`	112	`cv::Mat pattern(1, screenCols, CV_8UC3);`
113	`cv::Mat patternInv(1, screenCols, CV_8UC3);`	113	`cv::Mat patternInv(1, screenCols, CV_8UC3);`
114		114
115	`for(unsigned int j=0; j<screenCols; j++){`	115	`for(unsigned int j=0; j<screenCols; j++){`
116		116
117	`unsigned int jGray = binaryToGray(j);`	117	`unsigned int jGray = binaryToGray(j);`
118	`// Amplitude of channels`	118	`// Amplitude of channels`
119	`int bit = (int)getBit(jGray, Nbits-p);`	119	`int bit = (int)getBit(jGray, Nbits-p);`
120	`pattern.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0bit,255.0bit,255.0*bit);`	120	`pattern.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0bit,255.0bit,255.0*bit);`
121	`int invBit = bit^1;`	121	`int invBit = bit^1;`
122	`patternInv.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0invBit,255.0invBit,255.0*invBit);`	122	`patternInv.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0invBit,255.0invBit,255.0*invBit);`
123	`}`	123	`}`
124	`patterns.push_back(pattern);`	124	`patterns.push_back(pattern);`
125	`patterns.push_back(patternInv);`	125	`patterns.push_back(patternInv);`
126	`}`	126	`}`
127		127
128		128
129	`}`	129	`}`
130		130
131	`cv::Mat AlgorithmGrayCode::getEncodingPattern(unsigned int depth){`	131	`cv::Mat AlgorithmGrayCode::getEncodingPattern(unsigned int depth){`
132	`return patterns[depth];`	132	`return patterns[depth];`
133	`}`	133	`}`
134		134
135		135
136	`bool sortingLarger(cv::Vec4i i,cv::Vec4i j){ return (i[3]<j[3]);}`	136	`bool sortingLarger(cv::Vec4i i,cv::Vec4i j){ return (i[3]<j[3]);}`
137	`bool sortingEqual(cv::Vec4i i,cv::Vec4i j){ return (i[3]==j[3]);}`	137	`bool sortingEqual(cv::Vec4i i,cv::Vec4i j){ return (i[3]==j[3]);}`
138	`void getEdgeLabels(const cv::Mat& scanLine, int Nbits, std::vector<cv::Vec4i>& edges){`	138	`void getEdgeLabels(const cv::Mat& scanLine, int Nbits, std::vector<cv::Vec4i>& edges){`
139		139
140	`int nCols = scanLine.cols;`	140	`int nCols = scanLine.cols;`
141	`const int *data = scanLine.ptr<const int>(0);`	141	`const int *data = scanLine.ptr<const int>(0);`
142		142
143	`int labelLeft;`	143	`int labelLeft;`
144	`int labelRight = data[0];`	144	`int labelRight = data[0];`
145		145
146	`// collect edges`	146	`// collect edges`
147	`for(int col=1; col<nCols; col++){`	147	`for(int col=1; col<nCols; col++){`
148		148
149	`labelLeft = labelRight;`	149	`labelLeft = labelRight;`
150	`labelRight = data[col];`	150	`labelRight = data[col];`
151		151
152	`// labels need to be non-background, and differ in exactly one bit`	152	`// labels need to be non-background, and differ in exactly one bit`
153	`if(labelLeft != -1 && labelRight != -1 && countBits(labelLeft^labelRight) == 1){`	153	`if(labelLeft != -1 && labelRight != -1 && countBits(labelLeft^labelRight) == 1){`
154	`int orderingRelation = (labelLeft << Nbits) + labelRight;`	154	`int orderingRelation = (labelLeft << Nbits) + labelRight;`
155	`// store left label column`	155	`// store left label column`
156	`edges.push_back(cv::Vec4i(col-1, labelLeft, labelRight, orderingRelation));`	156	`edges.push_back(cv::Vec4i(col-1, labelLeft, labelRight, orderingRelation));`
157	`}`	157	`}`
158	`}`	158	`}`
159		159
160	`// sort`	160	`// sort`
161	`std::sort(edges.begin(), edges.end(), sortingLarger);`	161	`std::sort(edges.begin(), edges.end(), sortingLarger);`
162		162
163	`// remove duplicates`	163	`// remove duplicates`
164	`std::vector<cv::Vec4i>::iterator it;`	164	`std::vector<cv::Vec4i>::iterator it;`
165	`it = std::unique(edges.begin(), edges.end(), sortingEqual);`	165	`it = std::unique(edges.begin(), edges.end(), sortingEqual);`
166	`edges.resize(std::distance(edges.begin(),it));`	166	`edges.resize(std::distance(edges.begin(),it));`
167	`}`	167	`}`
168		168
169	`static cv::Vec3b getColorSubpix(const cv::Mat& img, cv::Point2f pt){`	169	`static cv::Vec3b getColorSubpix(const cv::Mat& img, cv::Point2f pt){`
170	`assert(!img.empty());`	170	`assert(!img.empty());`
171	`assert(img.channels() == 3);`	171	`assert(img.channels() == 3);`
172		172
173	`int x = (int)pt.x;`	173	`int x = (int)pt.x;`
174	`int y = (int)pt.y;`	174	`int y = (int)pt.y;`
175		175
176	`int x0 = cv::borderInterpolate(x, img.cols, cv::BORDER_REFLECT_101);`	176	`int x0 = cv::borderInterpolate(x, img.cols, cv::BORDER_REFLECT_101);`
177	`int x1 = cv::borderInterpolate(x+1, img.cols, cv::BORDER_REFLECT_101);`	177	`int x1 = cv::borderInterpolate(x+1, img.cols, cv::BORDER_REFLECT_101);`
178	`int y0 = cv::borderInterpolate(y, img.rows, cv::BORDER_REFLECT_101);`	178	`int y0 = cv::borderInterpolate(y, img.rows, cv::BORDER_REFLECT_101);`
179	`int y1 = cv::borderInterpolate(y+1, img.rows, cv::BORDER_REFLECT_101);`	179	`int y1 = cv::borderInterpolate(y+1, img.rows, cv::BORDER_REFLECT_101);`
180		180
181	`float a = pt.x - (float)x;`	181	`float a = pt.x - (float)x;`
182	`float c = pt.y - (float)y;`	182	`float c = pt.y - (float)y;`
183		183
184	`uchar b = (uchar)cvRound((img.at<cv::Vec3b>(y0, x0)[0] * (1.f - a) + img.at<cv::Vec3b>(y0, x1)[0] * a) * (1.f - c)`	184	`uchar b = (uchar)cvRound((img.at<cv::Vec3b>(y0, x0)[0] * (1.f - a) + img.at<cv::Vec3b>(y0, x1)[0] * a) * (1.f - c)`
185	`+ (img.at<cv::Vec3b>(y1, x0)[0] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[0] * a) * c);`	185	`+ (img.at<cv::Vec3b>(y1, x0)[0] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[0] * a) * c);`
186	`uchar g = (uchar)cvRound((img.at<cv::Vec3b>(y0, x0)[1] * (1.f - a) + img.at<cv::Vec3b>(y0, x1)[1] * a) * (1.f - c)`	186	`uchar g = (uchar)cvRound((img.at<cv::Vec3b>(y0, x0)[1] * (1.f - a) + img.at<cv::Vec3b>(y0, x1)[1] * a) * (1.f - c)`
187	`+ (img.at<cv::Vec3b>(y1, x0)[1] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[1] * a) * c);`	187	`+ (img.at<cv::Vec3b>(y1, x0)[1] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[1] * a) * c);`
188	`uchar r = (uchar)cvRound((img.at<cv::Vec3b>(y0, x0)[2] * (1.f - a) + img.at<cv::Vec3b>(y0, x1)[2] * a) * (1.f - c)`	188	`uchar r = (uchar)cvRound((img.at<cv::Vec3b>(y0, x0)[2] * (1.f - a) + img.at<cv::Vec3b>(y0, x1)[2] * a) * (1.f - c)`
189	`+ (img.at<cv::Vec3b>(y1, x0)[2] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[2] * a) * c);`	189	`+ (img.at<cv::Vec3b>(y1, x0)[2] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[2] * a) * c);`
190		190
191	`return cv::Vec3b(b, g, r);`	191	`return cv::Vec3b(b, g, r);`
192	`}`	192	`}`
193		193
194	`void AlgorithmGrayCode::get3DPoints(SMCalibrationParameters calibration, const std::vector<cv::Mat>& frames0, const std::vector<cv::Mat>& frames1, std::vector<cv::Point3f>& Q, std::vector<cv::Vec3b>& color){`	194	`void AlgorithmGrayCode::get3DPoints(SMCalibrationParameters calibration, const std::vector<cv::Mat>& frames0, const std::vector<cv::Mat>& frames1, std::vector<cv::Point3f>& Q, std::vector<cv::Vec3b>& color){`
195		195
196	`assert(frames0.size() == N);`	196	`assert(frames0.size() == N);`
197	`assert(frames1.size() == N);`	197	`assert(frames1.size() == N);`
198		198
199	`// for(int i=0; i<1920; i++){`	199	`// for(int i=0; i<1920; i++){`
200	`// std::cout << i << " " << binaryToGray(i) << " " << grayToBinary(binaryToGray(i)) << std::endl;`	200	`// std::cout << i << " " << binaryToGray(i) << " " << grayToBinary(binaryToGray(i)) << std::endl;`
201	`// }`	201	`// }`
202		202
203	`int frameRows = frames0[0].rows;`	203	`int frameRows = frames0[0].rows;`
204	`int frameCols = frames0[0].cols;`	204	`int frameCols = frames0[0].cols;`
205		205
206	`// rectifying homographies (rotation+projections)`	206	`// rectifying homographies (rotation+projections)`
207	`cv::Size frameSize(frameCols, frameRows);`	207	`cv::Size frameSize(frameCols, frameRows);`
208	`cv::Mat R, T;`	208	`cv::Mat R, T;`
209	`// stereoRectify segfaults unless R is double precision`	209	`// stereoRectify segfaults unless R is double precision`
210	`cv::Mat(calibration.R1).convertTo(R, CV_64F);`	210	`cv::Mat(calibration.R1).convertTo(R, CV_64F);`
211	`cv::Mat(calibration.T1).convertTo(T, CV_64F);`	211	`cv::Mat(calibration.T1).convertTo(T, CV_64F);`
212	`cv::Mat R0, R1, P0, P1, QRect;`	212	`cv::Mat R0, R1, P0, P1, QRect;`
213	`cv::stereoRectify(calibration.K0, calibration.k0, calibration.K1, calibration.k1, frameSize, R, T, R0, R1, P0, P1, QRect, 0);`	213	`cv::stereoRectify(calibration.K0, calibration.k0, calibration.K1, calibration.k1, frameSize, R, T, R0, R1, P0, P1, QRect, 0);`
214		214
215	`// std::cout << "R0" << std::endl << R0 << std::endl;`	215	`// std::cout << "R0" << std::endl << R0 << std::endl;`
216	`// std::cout << "P0" << std::endl << P0 << std::endl;`	216	`// std::cout << "P0" << std::endl << P0 << std::endl;`
217	`// std::cout << "R1" << std::endl << R1 << std::endl;`	217	`// std::cout << "R1" << std::endl << R1 << std::endl;`
218	`// std::cout << "P1" << std::endl << P1 << std::endl;`	218	`// std::cout << "P1" << std::endl << P1 << std::endl;`
219		219
220	`// interpolation maps`	220	`// interpolation maps`
221	`cv::Mat map0X, map0Y, map1X, map1Y;`	221	`cv::Mat map0X, map0Y, map1X, map1Y;`
222	`cv::initUndistortRectifyMap(calibration.K0, calibration.k0, R0, P0, frameSize, CV_32F, map0X, map0Y);`	222	`cv::initUndistortRectifyMap(calibration.K0, calibration.k0, R0, P0, frameSize, CV_32F, map0X, map0Y);`
223	`cv::initUndistortRectifyMap(calibration.K1, calibration.k1, R1, P1, frameSize, CV_32F, map1X, map1Y);`	223	`cv::initUndistortRectifyMap(calibration.K1, calibration.k1, R1, P1, frameSize, CV_32F, map1X, map1Y);`
224		224
225	`// gray-scale and remap`	225	`// gray-scale and remap`
226	`std::vector<cv::Mat> frames0Rect(N);`	226	`std::vector<cv::Mat> frames0Rect(N);`
227	`std::vector<cv::Mat> frames1Rect(N);`	227	`std::vector<cv::Mat> frames1Rect(N);`
228	`for(int i=0; i<N; i++){`	228	`for(int i=0; i<N; i++){`
229	`cv::Mat temp;`	229	`cv::Mat temp;`
230	`cv::cvtColor(frames0[i], temp, CV_BayerBG2GRAY);`	230	`cv::cvtColor(frames0[i], temp, CV_BayerBG2GRAY);`
231	`cv::remap(temp, frames0Rect[i], map0X, map0Y, CV_INTER_LINEAR);`	231	`cv::remap(temp, frames0Rect[i], map0X, map0Y, CV_INTER_LINEAR);`
232	`cv::cvtColor(frames1[i], temp, CV_BayerBG2GRAY);`	232	`cv::cvtColor(frames1[i], temp, CV_BayerBG2GRAY);`
233	`cv::remap(temp, frames1Rect[i], map1X, map1Y, CV_INTER_LINEAR);`	233	`cv::remap(temp, frames1Rect[i], map1X, map1Y, CV_INTER_LINEAR);`
234	`}`	234	`}`
235		235
-		236
236	`// cvtools::writeMat(frames0Rect[0], "frames0Rect_0.mat", "frames0Rect_0");`	237	`// cvtools::writeMat(frames0Rect[0], "frames0Rect_0.mat", "frames0Rect_0");`
237	`// cvtools::writeMat(frames0Rect[1], "frames0Rect_1.mat", "frames0Rect_1");`	238	`// cvtools::writeMat(frames0[0], "frames0_0.mat", "frames0_0");`
238		239
239	`// cvtools::writeMat(frames0Rect[22], "frames0Rect_22.mat", "frames0Rect_22");`	240	`// cvtools::writeMat(frames0Rect[22], "frames0Rect_22.mat", "frames0Rect_22");`
240	`// cvtools::writeMat(frames0Rect[23], "frames0Rect_23.mat", "frames0Rect_23");`	241	`// cvtools::writeMat(frames0Rect[23], "frames0Rect_23.mat", "frames0Rect_23");`
241		242
242	`// cv::imwrite("frames0[0].png", frames0[0]);`	243	`// cv::imwrite("frames0[0].png", frames0[0]);`
243	`// cv::imwrite("frames0Rect[0].png", frames0Rect[0]);`	244	`// cv::imwrite("frames0Rect[0].png", frames0Rect[0]);`
244		245
245	`// cv::imwrite("frames1[0].png", frames1[0]);`	246	`// cv::imwrite("frames1[0].png", frames1[0]);`
246	`// cv::imwrite("frames1Rect[0].png", frames1Rect[0]);`	247	`// cv::imwrite("frames1Rect[0].png", frames1Rect[0]);`
247		248
248	`// color debayer and remap`	249	`// color debayer and remap`
249	`cv::Mat temp;`	-
250	`cv::Mat color0Rect, color1Rect;`	250	`cv::Mat color0Rect, color1Rect;`
-		251	`frames0[0].convertTo(color0Rect, CV_8UC1, 1.0/256.0);`
251	`cv::cvtColor(frames0[0], temp, CV_BayerBG2RGB);`	252	`cv::cvtColor(color0Rect, color0Rect, CV_BayerBG2RGB);`
252	`cv::remap(temp, color0Rect, map0X, map0Y, CV_INTER_LINEAR);`	253	`cv::remap(color0Rect, color0Rect, map0X, map0Y, CV_INTER_LINEAR);`
-		254
-		255	`frames1[0].convertTo(color1Rect, CV_8UC1, 1.0/256.0);`
253	`cv::cvtColor(frames1[0], temp, CV_BayerBG2RGB);`	256	`cv::cvtColor(color1Rect, color1Rect, CV_BayerBG2RGB);`
254	`cv::remap(temp, color1Rect, map1X, map1Y, CV_INTER_LINEAR);`	257	`cv::remap(color1Rect, color1Rect, map1X, map1Y, CV_INTER_LINEAR);`
255		258
256	`int frameRectRows = frames0Rect[0].rows;`	259	`int frameRectRows = frames0Rect[0].rows;`
257	`int frameRectCols = frames0Rect[0].cols;`	260	`int frameRectCols = frames0Rect[0].cols;`
258		261
-		262	`//cvtools::writeMat(frames0Rect[0], "frames0Rect_0.mat", "frames0Rect_0");`
-		263	`//cvtools::writeMat(frames0Rect[1], "frames0Rect_1.mat", "frames0Rect_1");`
-		264	`//cvtools::writeMat(frames0Rect[20], "frames0Rect_20.mat", "frames0Rect_20");`
-		265	`//cvtools::writeMat(frames0Rect[21], "frames0Rect_21.mat", "frames0Rect_21");`
-		266
259	`// occlusion masks`	267	`// occlusion masks`
260	`cv::Mat occlusion0Rect, occlusion1Rect;`	268	`cv::Mat occlusion0Rect, occlusion1Rect;`
261	`cv::subtract(frames0Rect[0], frames0Rect[1], occlusion0Rect);`	269	`cv::subtract(frames0Rect[0], frames0Rect[1], occlusion0Rect);`
262	`occlusion0Rect = (occlusion0Rect > 25) & (occlusion0Rect < 250);`	270	`occlusion0Rect = (occlusion0Rect > 16000) & (occlusion0Rect < 54000);`
263	`cv::subtract(frames1Rect[0], frames1Rect[1], occlusion1Rect);`	271	`cv::subtract(frames1Rect[0], frames1Rect[1], occlusion1Rect);`
264	`occlusion1Rect = (occlusion1Rect > 25) & (occlusion1Rect < 250);`	272	`occlusion1Rect = (occlusion1Rect > 16000) & (occlusion1Rect < 54000);`
265		273
266	`// erode occlusion masks`	274	`// erode occlusion masks`
267	`cv::Mat strel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(2,2));`	275	`cv::Mat strel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(2,2));`
268	`cv::erode(occlusion0Rect, occlusion0Rect, strel);`	276	`cv::erode(occlusion0Rect, occlusion0Rect, strel);`
269	`cv::erode(occlusion1Rect, occlusion1Rect, strel);`	277	`cv::erode(occlusion1Rect, occlusion1Rect, strel);`
270		278
-		279	`//cvtools::writeMat(frames0Rect[0], "frames0Rect_0.mat", "frames0Rect_0");`
-		280	`//cvtools::writeMat(frames0Rect[1], "frames0Rect_1.mat", "frames0Rect_1");`
-		281	`//cvtools::writeMat(frames0Rect[20], "frames0Rect_20.mat", "frames0Rect_20");`
-		282	`//cvtools::writeMat(frames0Rect[21], "frames0Rect_21.mat", "frames0Rect_21");`
-		283
-		284	`// // correct for projector inversion error`
-		285	`// cv::Mat W;`
-		286	`// cv::add(frames0Rect[0], frames0Rect[1], W, cv::noArray(), CV_32F);`
-		287	`// for(int i=2; i<N; i+=2){`
-		288	`// cv::Mat S, E;`
-		289	`// cv::add(frames0Rect[i], frames0Rect[i+1], S, cv::noArray(), CV_32F);`
-		290	`// cv::subtract(W, S, E, cv::noArray(), CV_32F);`
-		291	`// E *= 0.5;`
-		292	`// cv::add(frames0Rect[i], E, frames0Rect[i], cv::noArray(), CV_16UC1);`
-		293	`// cv::add(frames0Rect[i+1], E, frames0Rect[i+1], cv::noArray(), CV_16UC1);`
-		294	`// }`
-		295
-		296
-		297	`// correct for texture modulation and ambient`
-		298	`cv::Mat A0 = frames0Rect[1];`
-		299	`cv::Mat M0 = frames0Rect[0]-frames0Rect[1];`
-		300	`//cvtools::writeMat(A0, "A0.mat", "A0");`
-		301	`//cvtools::writeMat(M0, "M0.mat", "M0");`
-		302	`//cvtools::writeMat(frames0Rect[20], "frames0Rect_20.mat", "frames0Rect_20");`
-		303	`//cvtools::writeMat(frames0Rect[21], "frames0Rect_21.mat", "frames0Rect_21");`
-		304	`cv::divide(65536.0, M0, M0, CV_32F);`
-		305	`cv::Mat A1 = frames1Rect[1];`
-		306	`cv::Mat M1 = frames1Rect[0]-frames1Rect[1];`
-		307	`cv::divide(65536.0, M1, M1, CV_32F);`
-		308
-		309	`for(int i=2; i<N; i++){`
-		310	`cv::multiply(frames0Rect[i]-A0, M0, frames0Rect[i], 1.0, CV_16UC1);`
-		311	`cv::multiply(frames1Rect[i]-A1, M1, frames1Rect[i], 1.0, CV_16UC1);`
-		312	`}`
-		313
-		314	`//cvtools::writeMat(frames0Rect[22], "frames0Rect_22.mat", "frames0Rect_22");`
-		315	`//cvtools::writeMat(frames0Rect[23], "frames0Rect_23.mat", "frames0Rect_23");`
-		316
271	`//cvtools::writeMat(occlusion0Rect, "occlusion0Rect.mat", "occlusion0Rect");`	317	`//cvtools::writeMat(occlusion0Rect, "occlusion0Rect.mat", "occlusion0Rect");`
272	`//cvtools::writeMat(occlusion1Rect, "occlusion1Rect.mat", "occlusion1Rect");`	318	`//cvtools::writeMat(occlusion1Rect, "occlusion1Rect.mat", "occlusion1Rect");`
273		319
274	`// decode patterns`	320	`// decode patterns`
275	`cv::Mat code0Rect(frameRectRows, frameRectCols, CV_32S, cv::Scalar(0));`	321	`cv::Mat code0Rect(frameRectRows, frameRectCols, CV_32S, cv::Scalar(0));`
276	`cv::Mat code1Rect(frameRectRows, frameRectCols, CV_32S, cv::Scalar(0));`	322	`cv::Mat code1Rect(frameRectRows, frameRectCols, CV_32S, cv::Scalar(0));`
277		323
278	`// into gray code`	324	`// into gray code`
279	`for(int i=0; i<Nbits; i++){`	325	`for(int i=0; i<Nbits; i++){`
280	`cv::Mat bit0;`	326	`cv::Mat temp, bit0, bit1;`
-		327
281	`cv::subtract(frames0Rect[i2+2], frames0Rect[i2+3], bit0);`	328	`cv::compare(frames0Rect[i2+2], frames0Rect[i2+3], temp, cv::CMP_GT);`
282	`bit0 = bit0 > 0;`	329	`//cvtools::rshift(temp, 8);`
283	`bit0.convertTo(bit0, CV_32S, 1.0/255.0);`	330	`temp.convertTo(bit0, CV_32S, 1.0/255.0);`
284	`// cvtools::writeMat(bit0, "bit0.mat", "bit0");`	-
285	`cv::add(code0Rect, bit0*twopowi(Nbits-i-1), code0Rect, cv::Mat(), CV_32S);`	331	`cv::add(code0Rect, bit0*twopowi(Nbits-i-1), code0Rect, cv::noArray(), CV_32S);`
286	`cv::Mat bit1;`	-
-		332
287	`cv::subtract(frames1Rect[i2+2], frames1Rect[i2+3], bit1);`	333	`cv::compare(frames1Rect[i2+2], frames1Rect[i2+3], temp, cv::CMP_GT);`
288	`bit1 = bit1 > 0;`	334	`//cvtools::rshift(temp, 8);`
289	`bit1.convertTo(bit1, CV_32S, 1.0/255.0);`	335	`temp.convertTo(bit1, CV_32S, 1.0/255.0);`
290	`cv::add(code1Rect, bit1*twopowi(Nbits-i-1), code1Rect, cv::Mat(), CV_32S);`	336	`cv::add(code1Rect, bit1*twopowi(Nbits-i-1), code1Rect, cv::noArray(), CV_32S);`
291	`}`	337	`}`
292		338
293	`//cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");`	339	`cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");`
294	`//cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");`	340	`cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");`
295		341
296		342
297	`// // convert to standard binary`	343	`// // convert to standard binary`
298	`// cv::Mat code0Binary(code0Rect.rows, code0Rect.cols, CV_32F);`	344	`// cv::Mat code0Binary(code0Rect.rows, code0Rect.cols, CV_32F);`
299	`// cv::Mat code1Binary(code1Rect.rows, code1Rect.cols, CV_32F);`	345	`// cv::Mat code1Binary(code1Rect.rows, code1Rect.cols, CV_32F);`
300	`// for(int r=0; r<frameRectRows; r++){`	346	`// for(int r=0; r<frameRectRows; r++){`
301	`// for(int c=0; c<frameRectCols; c++){`	347	`// for(int c=0; c<frameRectCols; c++){`
302	`// if(code0Rect.at<int>(r,c) != -1)`	348	`// if(code0Rect.at<int>(r,c) != -1)`
303	`// code0Binary.at<float>(r,c) = grayToBinary(code0Rect.at<int>(r,c));`	349	`// code0Binary.at<float>(r,c) = grayToBinary(code0Rect.at<int>(r,c));`
304	`// if(code1Rect.at<int>(r,c) != -1)`	350	`// if(code1Rect.at<int>(r,c) != -1)`
305	`// code1Binary.at<float>(r,c) = grayToBinary(code1Rect.at<int>(r,c));`	351	`// code1Binary.at<float>(r,c) = grayToBinary(code1Rect.at<int>(r,c));`
306	`// }`	352	`// }`
307	`// }`	353	`// }`
308		354
309	`//cvtools::writeMat(code0Binary, "code0Binary.mat", "code0Binary");`	355	`//cvtools::writeMat(code0Binary, "code0Binary.mat", "code0Binary");`
310	`//cvtools::writeMat(code1Binary, "code1Binary.mat", "code1Binary");`	356	`//cvtools::writeMat(code1Binary, "code1Binary.mat", "code1Binary");`
311		357
312	`// // threshold on vertical discontinuities (due to imperfect rectification)`	358	`// // threshold on vertical discontinuities (due to imperfect rectification)`
313	`// cv::Mat edges0;`	359	`// cv::Mat edges0;`
314	`// cv::Sobel(code0Binary, edges0, -1, 0, 1, 5);`	360	`// cv::Sobel(code0Binary, edges0, -1, 0, 1, 5);`
315	`// occlusion0Rect = occlusion0Rect & (abs(edges0) < 50);`	361	`// occlusion0Rect = occlusion0Rect & (abs(edges0) < 50);`
316		362
317	`// cv::Mat edges1;`	363	`// cv::Mat edges1;`
318	`// cv::Sobel(code1Binary, edges1, -1, 0, 1, 5);`	364	`// cv::Sobel(code1Binary, edges1, -1, 0, 1, 5);`
319	`// occlusion1Rect = occlusion1Rect & (abs(edges1) < 50);`	365	`// occlusion1Rect = occlusion1Rect & (abs(edges1) < 50);`
320		366
321	`//cvtools::writeMat(edges0, "edges0.mat", "edges0");`	367	`//cvtools::writeMat(edges0, "edges0.mat", "edges0");`
322	`//cvtools::writeMat(edges1, "edges1.mat", "edges1");`	368	`//cvtools::writeMat(edges1, "edges1.mat", "edges1");`
323		369
324	`// set occluded pixels to -1`	370	`// set occluded pixels to -1`
325	`for(int r=0; r<frameRectRows; r++){`	371	`for(int r=0; r<frameRectRows; r++){`
326	`for(int c=0; c<frameRectCols; c++){`	372	`for(int c=0; c<frameRectCols; c++){`
327	`if(occlusion0Rect.at<char>(r,c) == 0)`	373	`if(occlusion0Rect.at<unsigned char>(r,c) == 0)`
328	`code0Rect.at<float>(r,c) = -1;`	374	`code0Rect.at<int>(r,c) = -1;`
329	`if(occlusion1Rect.at<char>(r,c) == 0)`	375	`if(occlusion1Rect.at<unsigned char>(r,c) == 0)`
330	`code1Rect.at<float>(r,c) = -1;`	376	`code1Rect.at<int>(r,c) = -1;`
331	`}`	377	`}`
332	`}`	378	`}`
333		379
-		380	`// cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");`
-		381	`// cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");`
-		382
334	`// matching`	383	`// matching`
335	`std::vector<cv::Vec2f> q0Rect, q1Rect;`	384	`std::vector<cv::Vec2f> q0Rect, q1Rect;`
336	`for(int row=0; row<frameRectRows; row++){`	385	`for(int row=0; row<frameRectRows; row++){`
337		386
338	`// edge data structure containing [floor(column), labelLeft, labelRight, orderingRelation]`	387	`// edge data structure containing [floor(column), labelLeft, labelRight, orderingRelation]`
339	`std::vector<cv::Vec4i> edges0, edges1;`	388	`std::vector<cv::Vec4i> edges0, edges1;`
340		389
341	`// sorted, unique edges`	390	`// sorted, unique edges`
342	`getEdgeLabels(code0Rect.row(row), Nbits, edges0);`	391	`getEdgeLabels(code0Rect.row(row), Nbits, edges0);`
343	`getEdgeLabels(code1Rect.row(row), Nbits, edges1);`	392	`getEdgeLabels(code1Rect.row(row), Nbits, edges1);`
344		393
345	`// match edges`	394	`// match edges`
346	`std::vector<cv::Vec4i> matchedEdges0, matchedEdges1;`	395	`std::vector<cv::Vec4i> matchedEdges0, matchedEdges1;`
347	`int i=0, j=0;`	396	`int i=0, j=0;`
348	`while(i<edges0.size() && j<edges1.size()){`	397	`while(i<edges0.size() && j<edges1.size()){`
349		398
350	`if(edges0[i][3] == edges1[j][3]){`	399	`if(edges0[i][3] == edges1[j][3]){`
351	`matchedEdges0.push_back(edges0[i]);`	400	`matchedEdges0.push_back(edges0[i]);`
352	`matchedEdges1.push_back(edges1[j]);`	401	`matchedEdges1.push_back(edges1[j]);`
353	`i += 1;`	402	`i += 1;`
354	`j += 1;`	403	`j += 1;`
355	`} else if(edges0[i][3] < edges1[j][3]){`	404	`} else if(edges0[i][3] < edges1[j][3]){`
356	`i += 1;`	405	`i += 1;`
357	`} else if(edges0[i][3] > edges1[j][3]){`	406	`} else if(edges0[i][3] > edges1[j][3]){`
358	`j += 1;`	407	`j += 1;`
359	`}`	408	`}`
360	`}`	409	`}`
361		410
362	`// crude subpixel refinement`	411	`// crude subpixel refinement`
363	`// finds the intersection of linear interpolants in the positive/negative pattern`	412	`// finds the intersection of linear interpolants in the positive/negative pattern`
364	`for(int i=0; i<matchedEdges0.size(); i++){`	413	`for(int i=0; i<matchedEdges0.size(); i++){`
365		414
366	`int level = Nbits - leastSignificantBitSet(matchedEdges0[i][1]^matchedEdges0[i][2]);`	415	`int level = Nbits - leastSignificantBitSet(matchedEdges0[i][1]^matchedEdges0[i][2]);`
367		416
368	`// refine for camera 0`	417	`// refine for camera 0`
369	`float c0 = matchedEdges0[i][0];`	418	`float c0 = matchedEdges0[i][0];`
370	`float c1 = c0+1;`	419	`float c1 = c0+1;`
371		420
372	`float pos0 = frames0Rect[2*level+2].at<char>(row, c0);`	421	`float pos0 = frames0Rect[2*level+2].at<unsigned short>(row, c0);`
373	`float pos1 = frames0Rect[2*level+2].at<char>(row, c1);`	422	`float pos1 = frames0Rect[2*level+2].at<unsigned short>(row, c1);`
374	`float neg0 = frames0Rect[2*level+3].at<char>(row, c0);`	423	`float neg0 = frames0Rect[2*level+3].at<unsigned short>(row, c0);`
375	`float neg1 = frames0Rect[2*level+3].at<char>(row, c1);`	424	`float neg1 = frames0Rect[2*level+3].at<unsigned short>(row, c1);`
376		425
377	`float col = c0 + (pos0 - neg0)/(neg1 - neg0 - pos1 + pos0);`	426	`float col = c0 + (pos0 - neg0)/(neg1 - neg0 - pos1 + pos0);`
378	`q0Rect.push_back(cv::Point2f(col, row));`	427	`q0Rect.push_back(cv::Point2f(col, row));`
379		428
380	`// refine for camera 1`	429	`// refine for camera 1`
381	`c0 = matchedEdges1[i][0];`	430	`c0 = matchedEdges1[i][0];`
382	`c1 = c0+1;`	431	`c1 = c0+1;`
383		432
384	`pos0 = frames1Rect[2*level+2].at<char>(row, c0);`	433	`pos0 = frames1Rect[2*level+2].at<unsigned short>(row, c0);`
385	`pos1 = frames1Rect[2*level+2].at<char>(row, c1);`	434	`pos1 = frames1Rect[2*level+2].at<unsigned short>(row, c1);`
386	`neg0 = frames1Rect[2*level+3].at<char>(row, c0);`	435	`neg0 = frames1Rect[2*level+3].at<unsigned short>(row, c0);`
387	`neg1 = frames1Rect[2*level+3].at<char>(row, c1);`	436	`neg1 = frames1Rect[2*level+3].at<unsigned short>(row, c1);`
388		437
389	`col = c0 + (pos0 - neg0)/(neg1 - neg0 - pos1 + pos0);`	438	`col = c0 + (pos0 - neg0)/(neg1 - neg0 - pos1 + pos0);`
390	`q1Rect.push_back(cv::Point2f(col, row));`	439	`q1Rect.push_back(cv::Point2f(col, row));`
391		440
392	`}`	441	`}`
393		442
394	`}`	443	`}`
395		444
396	`int nMatches = q0Rect.size();`	445	`int nMatches = q0Rect.size();`
397		446
398	`if(nMatches < 1){`	447	`if(nMatches < 1){`
399	`Q.resize(0);`	448	`Q.resize(0);`
400	`color.resize(0);`	449	`color.resize(0);`
401		450
402	`return;`	451	`return;`
403	`}`	452	`}`
404		453
405	`// retrieve color information (at integer coordinates)`	454	`// retrieve color information (at integer coordinates)`
406	`color.resize(nMatches);`	455	`color.resize(nMatches);`
407	`for(int i=0; i<nMatches; i++){`	456	`for(int i=0; i<nMatches; i++){`
408		457
409	`cv::Vec3b c0 = color0Rect.at<cv::Vec3b>(q0Rect[i][1], q0Rect[i][0]);`	458	`cv::Vec3b c0 = color0Rect.at<cv::Vec3b>(q0Rect[i][1], q0Rect[i][0]);`
410	`cv::Vec3b c1 = color1Rect.at<cv::Vec3b>(q1Rect[i][1], q1Rect[i][0]);`	459	`cv::Vec3b c1 = color1Rect.at<cv::Vec3b>(q1Rect[i][1], q1Rect[i][0]);`
411	`// cv::Vec3b c0 = getColorSubpix(color0Rect, q0Rect[i]);`	460	`// cv::Vec3b c0 = getColorSubpix(color0Rect, q0Rect[i]);`
412	`// cv::Vec3b c1 = getColorSubpix(color1Rect, q0Rect[i]);`	461	`// cv::Vec3b c1 = getColorSubpix(color1Rect, q0Rect[i]);`
413		462
414	`color[i] = 0.5c0 + 0.5c1;`	463	`color[i] = 0.5c0 + 0.5c1;`
415	`}`	464	`}`
416		465
417	`// triangulate points`	466	`// triangulate points`
418	`cv::Mat QMatHomogenous, QMat;`	467	`cv::Mat QMatHomogenous, QMat;`
419	`// cv::Mat C0 = P0.clone();`	468	`// cv::Mat C0 = P0.clone();`
420	`// cv::Mat C1 = P1.clone();`	469	`// cv::Mat C1 = P1.clone();`
421	`// C0.colRange(0, 3) = C0.colRange(0, 3)*R0;`	470	`// C0.colRange(0, 3) = C0.colRange(0, 3)*R0;`
422	`// C1.colRange(0, 3) = C1.colRange(0, 3)*R1.t();`	471	`// C1.colRange(0, 3) = C1.colRange(0, 3)*R1.t();`
423	`cv::triangulatePoints(P0, P1, q0Rect, q1Rect, QMatHomogenous);`	472	`cv::triangulatePoints(P0, P1, q0Rect, q1Rect, QMatHomogenous);`
424	`cvtools::convertMatFromHomogeneous(QMatHomogenous, QMat);`	473	`cvtools::convertMatFromHomogeneous(QMatHomogenous, QMat);`
425		474
426	`// undo rectifying rotation`	475	`// undo rectifying rotation`
427	`cv::Mat R0Inv;`	476	`cv::Mat R0Inv;`
428	`cv::Mat(R0.t()).convertTo(R0Inv, CV_32F);`	477	`cv::Mat(R0.t()).convertTo(R0Inv, CV_32F);`
429	`QMat = R0Inv*QMat;`	478	`QMat = R0Inv*QMat;`
430		479
431	`cvtools::matToPoints3f(QMat, Q);`	480	`cvtools::matToPoints3f(QMat, Q);`
432		481
433	`}`	482	`}`
434		483

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(root)/src/algorithm/AlgorithmGrayCode.cpp – Rev 114 → 120