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 grayToBinary(unsigned num, unsigned numBits)
+{
     for (unsigned shift = 1; shift < numBits; shift <<= 1){
         num ^= num >> shift;
+    }
     return num;
+}
 /*
  * Function takes the decimal number
  * Function takes the Nth bit (1 to 31)
  * Return the value of Nth bit from decimal
  * Source: http://icfun.blogspot.com/2009/04/get-n-th-bit-value-of-any-integer.html
  */
 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;
+    }
     // If the bit is not set, return 0
     return 0;
+}
 static inline int powi(int num, unsigned int exponent){
     // NOT EQUIVALENT TO pow()
     if(exponent == 0)
         return 1;
     float res = num;
     for(unsigned int i=0; i<exponent-1; i++)
         res *= num;
     return res;
+}
 // Algorithm
 AlgorithmGrayCode::AlgorithmGrayCode(unsigned int _screenCols, unsigned int _screenRows, CodingDir _dir) : Algorithm(_screenCols, _screenRows, _dir){
     // on/off patterns
     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 = get_bit(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::Vec4f i,cv::Vec4f j){ return (i[3]<j[3]);}
 bool sortingEqual(cv::Vec4f i,cv::Vec4f j){ return (i[3]==j[3]);}
 void getEdgeLabels(const cv::Mat& scanLine, int Nbits, std::vector<cv::Vec4f>& edges){
     int nCols = scanLine.cols;
     const short *data = scanLine.ptr<const short>(0);
     short labelLeft;
     short labelRight = data[0];
+    // collect edges
     for(int col=1; col<nCols; col++){
         labelLeft = labelRight;
         labelRight = data[col];
         if(labelLeft != -1 && labelRight != -1 && labelLeft != labelRight){
-            int orderingRelation = (2 << Nbits)*labelLeft + labelRight;
+            int orderingRelation = (labelLeft << Nbits) + labelRight;
-            edges.push_back(cv::Vec4f(col, labelLeft, labelRight, orderingRelation));
+            edges.push_back(cv::Vec4f(col-0.5, labelLeft, labelRight, orderingRelation));
+        }
+    }
     // sort
     std::sort(edges.begin(), edges.end(), sortingLarger);
     // remove duplicates
     std::vector<cv::Vec4f>::iterator it;
     it = std::unique(edges.begin(), edges.end(), sortingEqual);
     edges.resize(std::distance(edges.begin(),it));
+}
 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);
     int frameRows = frames0[0].rows;
     int frameCols = frames0[0].cols;
-    // convert to gray-scale
-    std::vector<cv::Mat> frames0Gray(N);
-    std::vector<cv::Mat> frames1Gray(N);
-    for(int i=0; i<N; i++){
-        cv::cvtColor(frames0[i], frames0Gray[i], CV_RGB2GRAY);
-        cv::cvtColor(frames1[i], frames1Gray[i], CV_RGB2GRAY);
-    }
-    // occlusion maps
-    cv::Mat occlusion0, occlusion1;
-    cv::subtract(frames0Gray[0], frames0Gray[1], occlusion0);
-    occlusion0 = occlusion0 > 50;
-    cv::subtract(frames1Gray[0], frames1Gray[1], occlusion1);
-    occlusion1 = occlusion1 > 50;
-//    cvtools::writeMat(occlusion0, "occlusion0.mat", "occlusion0");
-//    cvtools::writeMat(occlusion1, "occlusion1.mat", "occlusion1");
-    // decoded patterns
-    cv::Mat code0(frameRows, frameCols, CV_16S, cv::Scalar(-1)), code1(frameRows, frameCols, CV_16S, cv::Scalar(-1));
-    cvtools::writeMat(code0, "code0.mat", "code0");
-    cvtools::writeMat(code1, "code1.mat", "code1");
-    for(int i=0; i<Nbits; i++){
-        cv::Mat bit0;
-        cv::subtract(frames0Gray[i*2+2], frames0Gray[i*2+3], bit0);
-        bit0 = bit0 > 50;
-//    cvtools::writeMat(bit0, "bit0.mat", "bit0");
-        cv::add(code0, bit0/255*powi(2,i), code0, occlusion0, CV_16S);
-//    cvtools::writeMat(code0, "code0.mat", "code0");
-        cv::Mat bit1;
-        cv::subtract(frames1Gray[i*2+2], frames1Gray[i*2+3], bit1);
-        bit1 = bit1 > 50;
-        cv::add(code1, bit1/255*powi(2,i), code1, occlusion1, CV_16S);
-    }
-    cvtools::writeMat(code0, "code0.mat", "code0");
-    cvtools::writeMat(code1, "code1.mat", "code1");
     // 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);
-    // remap
+    // gray-scale and remap
+    std::vector<cv::Mat> frames0Rect(N);
-    cv::Mat code0Rect, code1Rect, color0Rect, color1Rect;
+    std::vector<cv::Mat> frames1Rect(N);
+    for(int i=0; i<N; i++){
+        cv::Mat temp;
-    cv::remap(code0, code0Rect, map0X, map0Y, cv::INTER_NEAREST);
+        cv::cvtColor(frames0[i], temp, CV_RGB2GRAY);
-    cv::remap(code1, code1Rect, map1X, map1Y, cv::INTER_NEAREST);
+        cv::remap(temp, frames0Rect[i], map0X, map0Y, CV_INTER_LINEAR);
-    cv::remap(frames0[0], color0Rect, map0X, map0Y, cv::INTER_CUBIC);
+        cv::cvtColor(frames1[i], temp, CV_RGB2GRAY);
-    cv::remap(frames1[0], color1Rect, map1X, map1Y, cv::INTER_CUBIC);
+        cv::remap(temp, frames1Rect[i], map1X, map1Y, CV_INTER_LINEAR);
+    }
+    // color remaps
+    cv::Mat color0Rect, color1Rect;
-cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");
+    cv::remap(frames0[0], color0Rect, map0X, map0Y, CV_INTER_CUBIC);
-cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");
+    cv::remap(frames1[0], color1Rect, map0X, map0Y, CV_INTER_CUBIC);
-//cvtools::writeMat(color0Rect, "color0.mat", "color0");
+    int frameRectRows = frames0Rect[0].rows;
-//cvtools::writeMat(color1Rect, "color1.mat", "color1");
+    int frameRectCols = frames0Rect[0].cols;
+    // occlusion maps
+    cv::Mat occlusion0Rect, occlusion1Rect;
+    cv::subtract(frames0Rect[0], frames0Rect[1], occlusion0Rect);
-    int nRows = code0Rect.rows;
+    occlusion0Rect = occlusion0Rect > 50;
+    cv::subtract(frames1Rect[0], frames1Rect[1], occlusion1Rect);
+    occlusion1Rect = occlusion1Rect > 50;
+//cvtools::writeMat(occlusion0Rect, "occlusion0Rect.mat", "occlusion0Rect");
+//cvtools::writeMat(occlusion1Rect, "occlusion1Rect.mat", "occlusion1Rect");
-    int nCols = code0Rect.cols;
+    // decode patterns
+    cv::Mat code0Rect(frameRectRows, frameRectCols, CV_16S, cv::Scalar(-1));
+    cv::Mat code1Rect(frameRectRows, frameRectCols, CV_16S, cv::Scalar(-1));
+    cv::add(code0Rect, 1, code0Rect, occlusion0Rect, CV_16S);
+    cv::add(code1Rect, 1, code1Rect, occlusion1Rect, CV_16S);
+    for(int i=0; i<Nbits; i++){
+        cv::Mat bit0;
+        cv::subtract(frames0Rect[i*2+2], frames0Rect[i*2+3], bit0, cv::noArray(), CV_16S);
+        bit0 = bit0 > 0;
+//    cvtools::writeMat(bit0, "bit0.mat", "bit0");
+        cv::add(code0Rect, bit0/255*powi(2,i), code0Rect, occlusion0Rect, CV_16S);
+//    cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");
+        cv::Mat bit1;
+        cv::subtract(frames1Rect[i*2+2], frames1Rect[i*2+3], bit1, cv::noArray(), CV_16S);
+        bit1 = bit1 > 0;
+        cv::add(code1Rect, bit1/255*powi(2,i), code1Rect, occlusion1Rect, CV_16S);
+    }
+//cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");
+//cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");
     // matching
     std::vector<cv::Vec2f> q0Rect, q1Rect;
-    for(int row=0; row<nRows; row++){
+    for(int row=0; row<frameRectRows; row++){
         std::vector<cv::Vec4f> edges0, edges1;
+        // sorted, unique edges
         getEdgeLabels(code0Rect.row(row), Nbits, edges0);
         getEdgeLabels(code1Rect.row(row), Nbits, edges1);
+        // subpixel refinement
+        // ...
         int i=0, j=0;
         while(i<edges0.size() && j<edges1.size()){
             if(edges0[i][3] == edges1[j][3]){
                 q0Rect.push_back(cv::Vec2f(edges0[i][0], row));
                 q1Rect.push_back(cv::Vec2f(edges1[j][0], row));
                 i += 1;
                 j += 1;
             } else if(edges0[i][3] < edges1[j][3]){
                 i += 1;
             } else if(edges0[i][3] > edges1[j][3]){
                 j += 1;
+            }
+        }
+    }
     // retrieve color information
     int nMatches = q0Rect.size();
     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]);
         color[i] = 0.5*(c0 + c1);
+    }
     // triangulate points
     cv::Mat QMatHomogenous, QMat;
     cv::triangulatePoints(P0, P1, q0Rect, q1Rect, QMatHomogenous);
     cvtools::convertMatFromHomogeneous(QMatHomogenous, QMat);
     cvtools::matToPoints3f(QMat, Q);
+}

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(root)/src/algorithm/AlgorithmGrayCode.cpp – Rev 42 → 43