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#include "CodecGrayCode.h"
 1 
#include "AlgorithmGrayCode.h"
2 
#include <cmath>
 2 
#include <cmath>
3 
 
 3 
 
4 
#ifndef log2f
 4 
#ifndef log2f
5 
#define log2f(x) (log(x)/log(2.0))
 5 
#define log2f(x) (log(x)/log(2.0))
6 
#endif
 6 
#endif
7 
 
 7 
 
8 
using namespace std;
 8 
//using namespace std;
9 
 
 9 
 
10 
/*
 10 
/*
11 
 * The purpose of this function is to convert an unsigned
 11 
 * The purpose of this function is to convert an unsigned
12 
 * binary number to reflected binary Gray code.
 12 
 * binary number to reflected binary Gray code.
13 
 *
 13 
 *
14 
 * The operator >> is shift right. The operator ^ is exclusive or.
 14 
 * The operator >> is shift right. The operator ^ is exclusive or.
15 
 * Source: http://en.wikipedia.org/wiki/Gray_code
 15 
 * Source: http://en.wikipedia.org/wiki/Gray_code
16 
 */
 16 
 */
17 
static unsigned int binaryToGray(unsigned int num) {
 17 
static unsigned int binaryToGray(unsigned int num) {
18 
    return (num >> 1) ^ num;
 18 
    return (num >> 1) ^ num;
19 
}
 19 
}
20 
 
 20 
 
21 
/*
 21 
/*
22 
 * From Wikipedia: http://en.wikipedia.org/wiki/Gray_code
 22 
 * From Wikipedia: http://en.wikipedia.org/wiki/Gray_code
23 
 * The purpose of this function is to convert a reflected binary
 23 
 * The purpose of this function is to convert a reflected binary
24 
 * Gray code number to a binary number.
 24 
 * Gray code number to a binary number.
25 
 */
 25 
 */
26 
static unsigned grayToBinary(unsigned num, unsigned numBits)
 26 
static unsigned grayToBinary(unsigned num, unsigned numBits)
27 
{
 27 
{
28 
    for (unsigned shift = 1; shift < numBits; shift <<= 1){
 28 
    for (unsigned shift = 1; shift < numBits; shift <<= 1){
29 
        num ^= num >> shift;
 29 
        num ^= num >> shift;
30 
    }
 30 
    }
31 
    return num;
 31 
    return num;
32 
}
 32 
}
33 
 
 33 
 
34 
/*
 34 
/*
35 
 * Function takes the decimal number
 35 
 * Function takes the decimal number
36 
 * Function takes the Nth bit (1 to 31)
 36 
 * Function takes the Nth bit (1 to 31)
37 
 * Return the value of Nth bit from decimal
 37 
 * Return the value of Nth bit from decimal
38 
 * Source: http://icfun.blogspot.com/2009/04/get-n-th-bit-value-of-any-integer.html
 38 
 * Source: http://icfun.blogspot.com/2009/04/get-n-th-bit-value-of-any-integer.html
39 
 */
 39 
 */
40 
static int get_bit(int decimal, int N){
 40 
static int get_bit(int decimal, int N){
41 
 
 41 
 
42 
    // Shifting the 1 for N-1 bits
 42 
    // Shifting the 1 for N-1 bits
43 
    int constant = 1 << (N-1);
 43 
    int constant = 1 << (N-1);
44 
 
 44 
 
45 
    // If the bit is set, return 1
 45 
    // If the bit is set, return 1
46 
    if( decimal & constant ){
 46 
    if( decimal & constant ){
47 
        return 1;
 47 
        return 1;
48 
    }
 48 
    }
49 
 
 49 
 
50 
    // If the bit is not set, return 0
 50 
    // If the bit is not set, return 0
51 
    return 0;
 51 
    return 0;
52 
}
 52 
}
53 
 
 53 
 
54 
static inline int powi(int num, unsigned int exponent){
 54 
static inline int powi(int num, unsigned int exponent){
55 
    // NOT EQUIVALENT TO pow()
 55 
    // NOT EQUIVALENT TO pow()
56 
    if(exponent == 0)
 56 
    if(exponent == 0)
57 
        return 1;
 57 
        return 1;
58 
 
 58 
 
59 
    float res = num;
 59 
    float res = num;
60 
    for(unsigned int i=0; i<exponent-1; i++)
 60 
    for(unsigned int i=0; i<exponent-1; i++)
61 
        res *= num;
 61 
        res *= num;
62 
 
 62 
 
63 
    return res;
 63 
    return res;
64 
}
 64 
}
65 
 
 65 
 
66 
// Algorithm
 66 
// Algorithm
67 
AlgorithmGrayCode::AlgorithmGrayCode(unsigned int _screenCols, unsigned int _screenRows, CodecDir _dir) : Algorithm(_screenCols, _screenRows, _dir){
 67 
AlgorithmGrayCode::AlgorithmGrayCode(unsigned int _screenCols, unsigned int _screenRows, CodingDir _dir) : Algorithm(_screenCols, _screenRows, _dir){
68 
 
 68 
 
69 
    // Number of horizontal encoding patterns
 69 
    // Number of horizontal encoding patterns
70 
    Nhorz = ceilf(log2f((float)screenCols));;
 70 
    Nhorz = ceilf(log2f((float)screenCols))*2;
71 
 
 71 
 
72 
    // Number of vertical encoding patterns
 72 
    // Number of vertical encoding patterns
73 
    Nvert = ceilf(log2f((float)screenRows));;
 73 
    Nvert = ceilf(log2f((float)screenRows))*2;
- 
 
 74 
 
- 
 
 75 
    // on/off patterns
- 
 
 76 
    this->N = 2;
74 
 
 77 
 
75 
    // Set total pattern number
 78 
    // Set total pattern number
76 
    if(dir & CodecDirHorizontal)
 79 
    if(dir & CodingDirHorizontal)
77 
        this->N += Nhorz;
 80 
        this->N += Nhorz;
78 
 
 81 
 
79 
    if(dir & CodecDirVertical)
 82 
    if(dir & CodingDirVertical)
80 
        this->N += Nvert;
 83 
        this->N += Nvert;
81 
 
 84 
 
- 
 
 85 
    // all on pattern
- 
 
 86 
    cv::Mat pattern(1, 1, CV_8UC3);
- 
 
 87 
    pattern.setTo(cv::Vec3b(255.0,255.0,255.0));
- 
 
 88 
    patterns.push_back(pattern);
- 
 
 89 
 
- 
 
 90 
    // all off pattern
- 
 
 91 
    pattern.setTo(cv::Vec3b(0.0,0.0,0.0));
- 
 
 92 
    patterns.push_back(pattern);
- 
 
 93 
 
82 
    if(dir & CodecDirHorizontal){
 94 
    if(dir & CodingDirHorizontal){
83 
        // Precompute horizontally encoding patterns
 95 
        // Precompute horizontally encoding patterns
84 
        for(unsigned int p=0; p<Nhorz; p++){
 96 
        for(unsigned int p=0; p<Nhorz; p++){
85 
            cv::Mat patternP(1, screenCols, CV_8UC3);
 97 
            cv::Mat patternP(1, screenCols, CV_8UC3);
86 
            // Loop through columns in first row
 98 
            // Loop through columns in first row
87 
            for(unsigned int j=0; j<screenCols; j++){
 99 
            for(unsigned int j=0; j<screenCols; j++){
88 
                unsigned int jGray = binaryToGray(j);
 100 
                unsigned int jGray = binaryToGray(j);
89 
                // Amplitude of channels
 101 
                // Amplitude of channels
90 
                float amp = get_bit(jGray, Nhorz-p);
 102 
                float amp = get_bit(jGray, Nhorz-p);
91 
                patternP.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0*amp,255.0*amp,255.0*amp);
 103 
                patternP.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0*amp,255.0*amp,255.0*amp);
92 
            }
 104 
            }
93 
            patterns.push_back(patternP);
 105 
            patterns.push_back(patternP);
94 
        }
 106 
        }
95 
    }
 107 
    }
96 
    if(dir & CodecDirVertical){
 108 
    if(dir & CodingDirVertical){
97 
        // Precompute vertical encoding patterns
 109 
        // Precompute vertical encoding patterns
98 
        for(unsigned int p=0; p<Nvert; p++){
 110 
        for(unsigned int p=0; p<Nvert; p++){
99 
            cv::Mat patternP(screenRows, 1, CV_8UC3);
 111 
            cv::Mat patternP(screenRows, 1, CV_8UC3);
100 
 
 112 
 
101 
            // Loop through rows in first column
 113 
            // Loop through rows in first column
102 
            for(unsigned int i=0; i<screenRows; i++){
 114 
            for(unsigned int i=0; i<screenRows; i++){
103 
 
 115 
 
104 
                unsigned int iGray = binaryToGray(i);
 116 
                unsigned int iGray = binaryToGray(i);
105 
 
 117 
 
106 
                // Amplitude of channels
 118 
                // Amplitude of channels
107 
                float amp = get_bit(iGray, Nvert-p); // Nvert-p-1?
 119 
                float amp = get_bit(iGray, Nvert-p); // Nvert-p-1?
108 
                patternP.at<cv::Vec3b>(i,0) = cv::Vec3b(255.0*amp,255.0*amp,255.0*amp);
 120 
                patternP.at<cv::Vec3b>(i,0) = cv::Vec3b(255.0*amp,255.0*amp,255.0*amp);
109 
            }
 121 
            }
110 
            patterns.push_back(patternP);
 122 
            patterns.push_back(patternP);
111 
        }
 123 
        }
112 
    }
 124 
    }
113 
}
 125 
}
114 
 
 126 
 
115 
cv::Mat AlgorithmGrayCode::getEncodingPattern(unsigned int depth){
 127 
cv::Mat AlgorithmGrayCode::getEncodingPattern(unsigned int depth){
116 
    return patterns[depth];
 128 
    return patterns[depth];
117 
}
 129 
}
118 
 
 130 
 
119 
// Algorithm
 - 
 
120 
AlgorithmGrayCode::AlgorithmGrayCode(CodecDir _dir, int _screenResX, int _screenResY) : Algorithm(_dir, _screenResX, _screenResY){
 - 
 
121 
 
 131 
 
122 
    // Number of horizontal encoding patterns
 132 
bool sortingLarger(cv::Vec4f i,cv::Vec4f j){ return (i[3]<j[3]);}
123 
    Nhorz = ceilf(log2f((float)screenCols));;
 133 
void getEdgeLabels(const cv::Mat& scanLine, int Nbits, std::vector<cv::Vec4f>& edges){
124 
 
 134 
 
- 
 
 135 
    int nCols = scanLine.cols;
- 
 
 136 
 
125 
    // Number of vertical encoding patterns
 137 
    for(int col=1; col<nCols; nCols++){
- 
 
 138 
 
126 
    Nvert = ceilf(log2f((float)screenRows));;
 139 
        int labelLeft = scanLine.at<int>(0,col-1);
- 
 
 140 
        int labelRight = scanLine.at<int>(0,col);
- 
 
 141 
 
- 
 
 142 
        if(labelLeft != -1 && labelRight != -1 && labelLeft != labelRight){
- 
 
 143 
 
- 
 
 144 
            int orderingRelation = (2 << Nbits)*labelLeft + labelRight;
- 
 
 145 
 
- 
 
 146 
            edges.push_back(cv::Vec4f(col, labelLeft, labelRight, orderingRelation));
- 
 
 147 
 
- 
 
 148 
        }
- 
 
 149 
    }
- 
 
 150 
 
- 
 
 151 
    std::sort(edges.begin(), edges.end(), sortingLarger);
127 
}
 152 
}
128 
 
 153 
 
129 
void AlgorithmGrayCode::getCorrespondences(const std::vector<cv::Mat>& frames0, const std::vector<cv::Mat>& frames1, std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f>& color){
 154 
void AlgorithmGrayCode::getCorrespondences(SMCalibrationParameters calibration, const std::vector<cv::Mat>& frames0, const std::vector<cv::Mat>& frames1, std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f>& color){
- 
 
 155 
 
- 
 
 156 
    assert(frames0.size() == N);
- 
 
 157 
    assert(frames1.size() == N);
- 
 
 158 
 
- 
 
 159 
    // occlusion maps
- 
 
 160 
    cv::Mat occlusion0 = (frames0[0] - frames0[1]) > 0;
- 
 
 161 
    cv::Mat occlusion1 = (frames1[0] - frames1[1]) > 0;
- 
 
 162 
 
- 
 
 163 
    // decoded patterns
- 
 
 164 
    cv::Mat code0, code1;
- 
 
 165 
 
- 
 
 166 
    int Nbits = (N-2)/2;
- 
 
 167 
    for(int i=0; i<Nbits; i++){
- 
 
 168 
        cv::Mat bit0 = (frames0[i*2+2] - frames0[i*2+3]) > 0;
- 
 
 169 
        code0 += bit0*pow(2, i);
- 
 
 170 
        cv::Mat bit1 = (frames1[i*2+2] - frames1[i*2+3]) > 0;
- 
 
 171 
        code1 += bit1*pow(2, i);
- 
 
 172 
    }
- 
 
 173 
 
- 
 
 174 
    // rectifying homographies
- 
 
 175 
    cv::Size frameSize(frames0[0].cols, frames0[0].rows);
- 
 
 176 
    cv::Mat R0, R1, P0, P1, Q;
- 
 
 177 
    cv::stereoRectify(calibration.K0, calibration.k0, calibration.K1, calibration.k1, frameSize, calibration.R1, calibration.T1, R0, R1, P0, P1, Q);
- 
 
 178 
 
- 
 
 179 
    // interpolation maps
- 
 
 180 
    cv::Mat map0X, map0Y, map1X, map1Y;
- 
 
 181 
    cv::initUndistortRectifyMap(P0, calibration.k0, R0, cv::Mat(), frameSize, CV_32FC1, map0X, map0Y);
- 
 
 182 
    cv::initUndistortRectifyMap(P1, calibration.k1, R1, cv::Mat(), frameSize, CV_32FC1, map1X, map1Y);
- 
 
 183 
 
- 
 
 184 
    // remap
- 
 
 185 
    cv::remap(occlusion0, occlusion0, map0X, map0Y, cv::INTER_CUBIC);
- 
 
 186 
    cv::remap(occlusion1, occlusion1, map1X, map1Y, cv::INTER_CUBIC);
- 
 
 187 
    cv::remap(code0, code0, map1X, map1Y, cv::INTER_CUBIC);
- 
 
 188 
    cv::remap(code1, code1, map1X, map1Y, cv::INTER_CUBIC);
- 
 
 189 
 
- 
 
 190 
    int nRows = occlusion0.rows;
- 
 
 191 
    int nCols = occlusion0.cols;
- 
 
 192 
 
- 
 
 193 
    // matching
- 
 
 194 
    for(int row=0; row<nRows; row++){
- 
 
 195 
 
- 
 
 196 
        std::vector<cv::Vec4f> edges0, edges1;
- 
 
 197 
 
- 
 
 198 
        getEdgeLabels(code0.row(row), Nbits, edges0);
- 
 
 199 
        getEdgeLabels(code1.row(row), Nbits, edges1);
- 
 
 200 
 
- 
 
 201 
        // REMOVE DOUBLE ENTRIES!
- 
 
 202 
 
- 
 
 203 
        int i=0, j=0;
- 
 
 204 
        while(i<edges0.size() && j<edges1.size()){
- 
 
 205 
 
- 
 
 206 
            if(edges0[i][3] == edges1[j][3]){
- 
 
 207 
                q0.push_back(cv::Point2f(row, edges0[i][0]));
- 
 
 208 
                q1.push_back(cv::Point2f(row, edges1[j][0]));
- 
 
 209 
                i += 1;
- 
 
 210 
                j += 1;
- 
 
 211 
            } else if(edges0[i][3] < edges1[i][3]){
- 
 
 212 
                i += 1;
- 
 
 213 
            } else if(edges0[i][3] > edges1[i][3]){
- 
 
 214 
                j += 1;
- 
 
 215 
            }
- 
 
 216 
        }
- 
 
 217 
 
130 
 
 218 
 
- 
 
 219 
    }
131 
 
 220 
 
- 
 
 221 
    // retrieve color information
- 
 
 222 
    int nMatches = q0.size();
- 
 
 223 
    color.resize(nMatches);
- 
 
 224 
    for(int i=0; i<nMatches; i++){
132 
 
 225 
 
- 
 
 226 
        cv::Vec3f color0 = frames0[0].at<cv::Vec3f>(q0[i].y, q0[i].x);
- 
 
 227 
        cv::Vec3f color1 = frames1[0].at<cv::Vec3f>(q1[i].y, q1[i].x);
133 
 
 228 
 
- 
 
 229 
        color[i] = 0.5*(color0 + color1);
- 
 
 230 
    }
134 
 
 231 
 
135 
}
 232 
}
136 
 
 233