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 = (labelLeft << Nbits) + labelRight;
            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;
 
    // 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_RGB2GRAY);
        cv::remap(temp, frames0Rect[i], map0X, map0Y, CV_INTER_LINEAR);
        cv::cvtColor(frames1[i], temp, CV_RGB2GRAY);
        cv::remap(temp, frames1Rect[i], map1X, map1Y, CV_INTER_LINEAR);
    }
 
    // color remaps
    cv::Mat color0Rect, color1Rect;
    cv::remap(frames0[0], color0Rect, map0X, map0Y, CV_INTER_CUBIC);
    cv::remap(frames1[0], color1Rect, map1X, map1Y, CV_INTER_CUBIC);
 
    int frameRectRows = frames0Rect[0].rows;
    int frameRectCols = frames0Rect[0].cols;
 
    // occlusion maps
    cv::Mat occlusion0Rect, occlusion1Rect;
    cv::subtract(frames0Rect[0], frames0Rect[1], occlusion0Rect);
    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");
 
    // 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<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 + 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 rectification
    cv::Mat R0Inv;
    cv::Mat(R0.t()).convertTo(R0Inv, CV_32F);
    QMat = R0Inv*QMat;
 
    cvtools::matToPoints3f(QMat, Q);
 
}
 

Subversion Repositories seema-scanner

(root)/src/algorithm/AlgorithmGrayCode.cpp – Rev 43 → 44

Rev 43		Rev 44
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 grayToBinary(unsigned num, unsigned numBits)`	27	`static unsigned grayToBinary(unsigned num, unsigned numBits)`
28	`{`	28	`{`
29	`for (unsigned shift = 1; shift < numBits; shift <<= 1){`	29	`for (unsigned shift = 1; shift < numBits; shift <<= 1){`
30	`num ^= num >> shift;`	30	`num ^= num >> shift;`
31	`}`	31	`}`
32	`return num;`	32	`return num;`
33	`}`	33	`}`
34		34
35	`/*`	35	`/*`
36	`* Function takes the decimal number`	36	`* Function takes the decimal number`
37	`* Function takes the Nth bit (1 to 31)`	37	`* Function takes the Nth bit (1 to 31)`
38	`* Return the value of Nth bit from decimal`	38	`* Return the value of Nth bit from decimal`
39	`* Source: http://icfun.blogspot.com/2009/04/get-n-th-bit-value-of-any-integer.html`	39	`* Source: http://icfun.blogspot.com/2009/04/get-n-th-bit-value-of-any-integer.html`
40	`*/`	40	`*/`
41	`static int get_bit(int decimal, int N){`	41	`static int get_bit(int decimal, int N){`
42		42
43	`// Shifting the 1 for N-1 bits`	43	`// Shifting the 1 for N-1 bits`
44	`int constant = 1 << (N-1);`	44	`int constant = 1 << (N-1);`
45		45
46	`// If the bit is set, return 1`	46	`// If the bit is set, return 1`
47	`if( decimal & constant ){`	47	`if( decimal & constant ){`
48	`return 1;`	48	`return 1;`
49	`}`	49	`}`
50		50
51	`// If the bit is not set, return 0`	51	`// If the bit is not set, return 0`
52	`return 0;`	52	`return 0;`
53	`}`	53	`}`
54		54
55	`static inline int powi(int num, unsigned int exponent){`	55	`static inline int powi(int num, unsigned int exponent){`
56	`// NOT EQUIVALENT TO pow()`	56	`// NOT EQUIVALENT TO pow()`
57	`if(exponent == 0)`	57	`if(exponent == 0)`
58	`return 1;`	58	`return 1;`
59		59
60	`float res = num;`	60	`float res = num;`
61	`for(unsigned int i=0; i<exponent-1; i++)`	61	`for(unsigned int i=0; i<exponent-1; i++)`
62	`res *= num;`	62	`res *= num;`
63		63
64	`return res;`	64	`return res;`
65	`}`	65	`}`
66		66
67	`// Algorithm`	67	`// Algorithm`
68	`AlgorithmGrayCode::AlgorithmGrayCode(unsigned int _screenCols, unsigned int _screenRows, CodingDir _dir) : Algorithm(_screenCols, _screenRows, _dir){`	68	`AlgorithmGrayCode::AlgorithmGrayCode(unsigned int _screenCols, unsigned int _screenRows, CodingDir _dir) : Algorithm(_screenCols, _screenRows, _dir){`
69		69
70	`// on/off patterns`	70	`// on/off patterns`
71	`Nbits = ceilf(log2f((float)screenCols));`	71	`Nbits = ceilf(log2f((float)screenCols));`
72	`N = 2 + Nbits*2;`	72	`N = 2 + Nbits*2;`
73		73
74	`// all on pattern`	74	`// all on pattern`
75	`cv::Mat allOn(1, screenCols, CV_8UC3, cv::Scalar::all(255));`	75	`cv::Mat allOn(1, screenCols, CV_8UC3, cv::Scalar::all(255));`
76	`patterns.push_back(allOn);`	76	`patterns.push_back(allOn);`
77		77
78	`// all off pattern`	78	`// all off pattern`
79	`cv::Mat allOff(1, screenCols, CV_8UC3, cv::Scalar::all(0));`	79	`cv::Mat allOff(1, screenCols, CV_8UC3, cv::Scalar::all(0));`
80	`patterns.push_back(allOff);`	80	`patterns.push_back(allOff);`
81		81
82		82
83	`// horizontally encoding patterns`	83	`// horizontally encoding patterns`
84	`for(unsigned int p=0; p<Nbits; p++){`	84	`for(unsigned int p=0; p<Nbits; p++){`
85	`cv::Mat pattern(1, screenCols, CV_8UC3);`	85	`cv::Mat pattern(1, screenCols, CV_8UC3);`
86	`cv::Mat patternInv(1, screenCols, CV_8UC3);`	86	`cv::Mat patternInv(1, screenCols, CV_8UC3);`
87		87
88	`for(unsigned int j=0; j<screenCols; j++){`	88	`for(unsigned int j=0; j<screenCols; j++){`
89		89
90	`unsigned int jGray = binaryToGray(j);`	90	`unsigned int jGray = binaryToGray(j);`
91	`// Amplitude of channels`	91	`// Amplitude of channels`
92	`int bit = get_bit(jGray, Nbits-p);`	92	`int bit = get_bit(jGray, Nbits-p);`
93	`pattern.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0bit,255.0bit,255.0*bit);`	93	`pattern.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0bit,255.0bit,255.0*bit);`
94	`int invBit = bit^1;`	94	`int invBit = bit^1;`
95	`patternInv.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0invBit,255.0invBit,255.0*invBit);`	95	`patternInv.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0invBit,255.0invBit,255.0*invBit);`
96	`}`	96	`}`
97	`patterns.push_back(pattern);`	97	`patterns.push_back(pattern);`
98	`patterns.push_back(patternInv);`	98	`patterns.push_back(patternInv);`
99	`}`	99	`}`
100		100
101		101
102	`}`	102	`}`
103		103
104	`cv::Mat AlgorithmGrayCode::getEncodingPattern(unsigned int depth){`	104	`cv::Mat AlgorithmGrayCode::getEncodingPattern(unsigned int depth){`
105	`return patterns[depth];`	105	`return patterns[depth];`
106	`}`	106	`}`
107		107
108		108
109	`bool sortingLarger(cv::Vec4f i,cv::Vec4f j){ return (i[3]<j[3]);}`	109	`bool sortingLarger(cv::Vec4f i,cv::Vec4f j){ return (i[3]<j[3]);}`
110	`bool sortingEqual(cv::Vec4f i,cv::Vec4f j){ return (i[3]==j[3]);}`	110	`bool sortingEqual(cv::Vec4f i,cv::Vec4f j){ return (i[3]==j[3]);}`
111	`void getEdgeLabels(const cv::Mat& scanLine, int Nbits, std::vector<cv::Vec4f>& edges){`	111	`void getEdgeLabels(const cv::Mat& scanLine, int Nbits, std::vector<cv::Vec4f>& edges){`
112		112
113	`int nCols = scanLine.cols;`	113	`int nCols = scanLine.cols;`
114	`const short *data = scanLine.ptr<const short>(0);`	114	`const short *data = scanLine.ptr<const short>(0);`
115		115
116	`short labelLeft;`	116	`short labelLeft;`
117	`short labelRight = data[0];`	117	`short labelRight = data[0];`
118		118
119	`// collect edges`	119	`// collect edges`
120	`for(int col=1; col<nCols; col++){`	120	`for(int col=1; col<nCols; col++){`
121		121
122	`labelLeft = labelRight;`	122	`labelLeft = labelRight;`
123	`labelRight = data[col];`	123	`labelRight = data[col];`
124		124
125	`if(labelLeft != -1 && labelRight != -1 && labelLeft != labelRight){`	125	`if(labelLeft != -1 && labelRight != -1 && labelLeft != labelRight){`
126	`int orderingRelation = (labelLeft << Nbits) + labelRight;`	126	`int orderingRelation = (labelLeft << Nbits) + labelRight;`
127	`edges.push_back(cv::Vec4f(col-0.5, labelLeft, labelRight, orderingRelation));`	127	`edges.push_back(cv::Vec4f(col-0.5, labelLeft, labelRight, orderingRelation));`
128	`}`	128	`}`
129	`}`	129	`}`
130		130
131	`// sort`	131	`// sort`
132	`std::sort(edges.begin(), edges.end(), sortingLarger);`	132	`std::sort(edges.begin(), edges.end(), sortingLarger);`
133		133
134	`// remove duplicates`	134	`// remove duplicates`
135	`std::vector<cv::Vec4f>::iterator it;`	135	`std::vector<cv::Vec4f>::iterator it;`
136	`it = std::unique(edges.begin(), edges.end(), sortingEqual);`	136	`it = std::unique(edges.begin(), edges.end(), sortingEqual);`
137	`edges.resize(std::distance(edges.begin(),it));`	137	`edges.resize(std::distance(edges.begin(),it));`
138	`}`	138	`}`
139		139
140	`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){`	140	`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){`
141		141
142	`assert(frames0.size() == N);`	142	`assert(frames0.size() == N);`
143	`assert(frames1.size() == N);`	143	`assert(frames1.size() == N);`
144		144
145	`int frameRows = frames0[0].rows;`	145	`int frameRows = frames0[0].rows;`
146	`int frameCols = frames0[0].cols;`	146	`int frameCols = frames0[0].cols;`
147		147
148	`// rectifying homographies (rotation+projections)`	148	`// rectifying homographies (rotation+projections)`
149	`cv::Size frameSize(frameCols, frameRows);`	149	`cv::Size frameSize(frameCols, frameRows);`
150	`cv::Mat R, T;`	150	`cv::Mat R, T;`
151	`// stereoRectify segfaults unless R is double precision`	151	`// stereoRectify segfaults unless R is double precision`
152	`cv::Mat(calibration.R1).convertTo(R, CV_64F);`	152	`cv::Mat(calibration.R1).convertTo(R, CV_64F);`
153	`cv::Mat(calibration.T1).convertTo(T, CV_64F);`	153	`cv::Mat(calibration.T1).convertTo(T, CV_64F);`
154	`cv::Mat R0, R1, P0, P1, QRect;`	154	`cv::Mat R0, R1, P0, P1, QRect;`
155	`cv::stereoRectify(calibration.K0, calibration.k0, calibration.K1, calibration.k1, frameSize, R, T, R0, R1, P0, P1, QRect, 0);`	155	`cv::stereoRectify(calibration.K0, calibration.k0, calibration.K1, calibration.k1, frameSize, R, T, R0, R1, P0, P1, QRect, 0);`
156		156
157	`std::cout << "R0" << std::endl << R0 << std::endl;`	157	`std::cout << "R0" << std::endl << R0 << std::endl;`
158	`std::cout << "P0" << std::endl << P0 << std::endl;`	158	`std::cout << "P0" << std::endl << P0 << std::endl;`
159	`std::cout << "R1" << std::endl << R1 << std::endl;`	159	`std::cout << "R1" << std::endl << R1 << std::endl;`
160	`std::cout << "P1" << std::endl << P1 << std::endl;`	160	`std::cout << "P1" << std::endl << P1 << std::endl;`
161		161
162	`// interpolation maps`	162	`// interpolation maps`
163	`cv::Mat map0X, map0Y, map1X, map1Y;`	163	`cv::Mat map0X, map0Y, map1X, map1Y;`
164	`cv::initUndistortRectifyMap(calibration.K0, calibration.k0, R0, P0, frameSize, CV_32F, map0X, map0Y);`	164	`cv::initUndistortRectifyMap(calibration.K0, calibration.k0, R0, P0, frameSize, CV_32F, map0X, map0Y);`
165	`cv::initUndistortRectifyMap(calibration.K1, calibration.k1, R1, P1, frameSize, CV_32F, map1X, map1Y);`	165	`cv::initUndistortRectifyMap(calibration.K1, calibration.k1, R1, P1, frameSize, CV_32F, map1X, map1Y);`
166		166
167	`// gray-scale and remap`	167	`// gray-scale and remap`
168	`std::vector<cv::Mat> frames0Rect(N);`	168	`std::vector<cv::Mat> frames0Rect(N);`
169	`std::vector<cv::Mat> frames1Rect(N);`	169	`std::vector<cv::Mat> frames1Rect(N);`
170	`for(int i=0; i<N; i++){`	170	`for(int i=0; i<N; i++){`
171	`cv::Mat temp;`	171	`cv::Mat temp;`
172	`cv::cvtColor(frames0[i], temp, CV_RGB2GRAY);`	172	`cv::cvtColor(frames0[i], temp, CV_RGB2GRAY);`
173	`cv::remap(temp, frames0Rect[i], map0X, map0Y, CV_INTER_LINEAR);`	173	`cv::remap(temp, frames0Rect[i], map0X, map0Y, CV_INTER_LINEAR);`
174	`cv::cvtColor(frames1[i], temp, CV_RGB2GRAY);`	174	`cv::cvtColor(frames1[i], temp, CV_RGB2GRAY);`
175	`cv::remap(temp, frames1Rect[i], map1X, map1Y, CV_INTER_LINEAR);`	175	`cv::remap(temp, frames1Rect[i], map1X, map1Y, CV_INTER_LINEAR);`
176	`}`	176	`}`
177		177
178	`// color remaps`	178	`// color remaps`
179	`cv::Mat color0Rect, color1Rect;`	179	`cv::Mat color0Rect, color1Rect;`
180	`cv::remap(frames0[0], color0Rect, map0X, map0Y, CV_INTER_CUBIC);`	180	`cv::remap(frames0[0], color0Rect, map0X, map0Y, CV_INTER_CUBIC);`
181	`cv::remap(frames1[0], color1Rect, map0X, map0Y, CV_INTER_CUBIC);`	181	`cv::remap(frames1[0], color1Rect, map1X, map1Y, CV_INTER_CUBIC);`
182		182
183	`int frameRectRows = frames0Rect[0].rows;`	183	`int frameRectRows = frames0Rect[0].rows;`
184	`int frameRectCols = frames0Rect[0].cols;`	184	`int frameRectCols = frames0Rect[0].cols;`
185		185
186	`// occlusion maps`	186	`// occlusion maps`
187	`cv::Mat occlusion0Rect, occlusion1Rect;`	187	`cv::Mat occlusion0Rect, occlusion1Rect;`
188	`cv::subtract(frames0Rect[0], frames0Rect[1], occlusion0Rect);`	188	`cv::subtract(frames0Rect[0], frames0Rect[1], occlusion0Rect);`
189	`occlusion0Rect = occlusion0Rect > 50;`	189	`occlusion0Rect = occlusion0Rect > 50;`
190	`cv::subtract(frames1Rect[0], frames1Rect[1], occlusion1Rect);`	190	`cv::subtract(frames1Rect[0], frames1Rect[1], occlusion1Rect);`
191	`occlusion1Rect = occlusion1Rect > 50;`	191	`occlusion1Rect = occlusion1Rect > 50;`
192	`//cvtools::writeMat(occlusion0Rect, "occlusion0Rect.mat", "occlusion0Rect");`	192	`//cvtools::writeMat(occlusion0Rect, "occlusion0Rect.mat", "occlusion0Rect");`
193	`//cvtools::writeMat(occlusion1Rect, "occlusion1Rect.mat", "occlusion1Rect");`	193	`//cvtools::writeMat(occlusion1Rect, "occlusion1Rect.mat", "occlusion1Rect");`
194		194
195	`// decode patterns`	195	`// decode patterns`
196	`cv::Mat code0Rect(frameRectRows, frameRectCols, CV_16S, cv::Scalar(-1));`	196	`cv::Mat code0Rect(frameRectRows, frameRectCols, CV_16S, cv::Scalar(-1));`
197	`cv::Mat code1Rect(frameRectRows, frameRectCols, CV_16S, cv::Scalar(-1));`	197	`cv::Mat code1Rect(frameRectRows, frameRectCols, CV_16S, cv::Scalar(-1));`
198	`cv::add(code0Rect, 1, code0Rect, occlusion0Rect, CV_16S);`	198	`cv::add(code0Rect, 1, code0Rect, occlusion0Rect, CV_16S);`
199	`cv::add(code1Rect, 1, code1Rect, occlusion1Rect, CV_16S);`	199	`cv::add(code1Rect, 1, code1Rect, occlusion1Rect, CV_16S);`
200		200
201	`for(int i=0; i<Nbits; i++){`	201	`for(int i=0; i<Nbits; i++){`
202	`cv::Mat bit0;`	202	`cv::Mat bit0;`
203	`cv::subtract(frames0Rect[i2+2], frames0Rect[i2+3], bit0, cv::noArray(), CV_16S);`	203	`cv::subtract(frames0Rect[i2+2], frames0Rect[i2+3], bit0, cv::noArray(), CV_16S);`
204	`bit0 = bit0 > 0;`	204	`bit0 = bit0 > 0;`
205	`// cvtools::writeMat(bit0, "bit0.mat", "bit0");`	205	`// cvtools::writeMat(bit0, "bit0.mat", "bit0");`
206	`cv::add(code0Rect, bit0/255*powi(2,i), code0Rect, occlusion0Rect, CV_16S);`	206	`cv::add(code0Rect, bit0/255*powi(2,i), code0Rect, occlusion0Rect, CV_16S);`
207	`// cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");`	207	`// cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");`
208	`cv::Mat bit1;`	208	`cv::Mat bit1;`
209	`cv::subtract(frames1Rect[i2+2], frames1Rect[i2+3], bit1, cv::noArray(), CV_16S);`	209	`cv::subtract(frames1Rect[i2+2], frames1Rect[i2+3], bit1, cv::noArray(), CV_16S);`
210	`bit1 = bit1 > 0;`	210	`bit1 = bit1 > 0;`
211	`cv::add(code1Rect, bit1/255*powi(2,i), code1Rect, occlusion1Rect, CV_16S);`	211	`cv::add(code1Rect, bit1/255*powi(2,i), code1Rect, occlusion1Rect, CV_16S);`
212	`}`	212	`}`
213		213
214	`//cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");`	214	`//cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");`
215	`//cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");`	215	`//cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");`
216		216
217	`// matching`	217	`// matching`
218	`std::vector<cv::Vec2f> q0Rect, q1Rect;`	218	`std::vector<cv::Vec2f> q0Rect, q1Rect;`
219	`for(int row=0; row<frameRectRows; row++){`	219	`for(int row=0; row<frameRectRows; row++){`
220		220
221	`std::vector<cv::Vec4f> edges0, edges1;`	221	`std::vector<cv::Vec4f> edges0, edges1;`
222		222
223	`// sorted, unique edges`	223	`// sorted, unique edges`
224	`getEdgeLabels(code0Rect.row(row), Nbits, edges0);`	224	`getEdgeLabels(code0Rect.row(row), Nbits, edges0);`
225	`getEdgeLabels(code1Rect.row(row), Nbits, edges1);`	225	`getEdgeLabels(code1Rect.row(row), Nbits, edges1);`
226		226
227	`// subpixel refinement`	227	`// subpixel refinement`
228	`// ...`	228	`// ...`
229		229
230	`int i=0, j=0;`	230	`int i=0, j=0;`
231	`while(i<edges0.size() && j<edges1.size()){`	231	`while(i<edges0.size() && j<edges1.size()){`
232		232
233	`if(edges0[i][3] == edges1[j][3]){`	233	`if(edges0[i][3] == edges1[j][3]){`
234	`q0Rect.push_back(cv::Vec2f(edges0[i][0], row));`	234	`q0Rect.push_back(cv::Vec2f(edges0[i][0], row));`
235	`q1Rect.push_back(cv::Vec2f(edges1[j][0], row));`	235	`q1Rect.push_back(cv::Vec2f(edges1[j][0], row));`
236	`i += 1;`	236	`i += 1;`
237	`j += 1;`	237	`j += 1;`
238	`} else if(edges0[i][3] < edges1[j][3]){`	238	`} else if(edges0[i][3] < edges1[j][3]){`
239	`i += 1;`	239	`i += 1;`
240	`} else if(edges0[i][3] > edges1[j][3]){`	240	`} else if(edges0[i][3] > edges1[j][3]){`
241	`j += 1;`	241	`j += 1;`
242	`}`	242	`}`
243	`}`	243	`}`
244		244
245		245
246	`}`	246	`}`
247		247
248	`// retrieve color information`	248	`// retrieve color information`
249	`int nMatches = q0Rect.size();`	249	`int nMatches = q0Rect.size();`
250	`color.resize(nMatches);`	250	`color.resize(nMatches);`
251	`for(int i=0; i<nMatches; i++){`	251	`for(int i=0; i<nMatches; i++){`
252		252
253	`cv::Vec3b c0 = color0Rect.at<cv::Vec3b>(q0Rect[i][1], q0Rect[i][0]);`	253	`cv::Vec3b c0 = color0Rect.at<cv::Vec3b>(q0Rect[i][1], q0Rect[i][0]);`
254	`cv::Vec3b c1 = color1Rect.at<cv::Vec3b>(q1Rect[i][1], q1Rect[i][0]);`	254	`cv::Vec3b c1 = color1Rect.at<cv::Vec3b>(q1Rect[i][1], q1Rect[i][0]);`
255		255
256	`color[i] = 0.5*(c0 + c1);`	256	`color[i] = 0.5c0 + 0.5c1;`
257	`}`	257	`}`
258		258
259	`// triangulate points`	259	`// triangulate points`
260	`cv::Mat QMatHomogenous, QMat;`	260	`cv::Mat QMatHomogenous, QMat;`
-		261	`// cv::Mat C0 = P0.clone();`
-		262	`// cv::Mat C1 = P1.clone();`
-		263	`// C0.colRange(0, 3) = C0.colRange(0, 3)*R0;`
-		264	`// C1.colRange(0, 3) = C1.colRange(0, 3)*R1.t();`
261	`cv::triangulatePoints(P0, P1, q0Rect, q1Rect, QMatHomogenous);`	265	`cv::triangulatePoints(P0, P1, q0Rect, q1Rect, QMatHomogenous);`
262	`cvtools::convertMatFromHomogeneous(QMatHomogenous, QMat);`	266	`cvtools::convertMatFromHomogeneous(QMatHomogenous, QMat);`
-		267
-		268	`// undo rectification`
-		269	`cv::Mat R0Inv;`
-		270	`cv::Mat(R0.t()).convertTo(R0Inv, CV_32F);`
-		271	`QMat = R0Inv*QMat;`
-		272
263	`cvtools::matToPoints3f(QMat, Q);`	273	`cvtools::matToPoints3f(QMat, Q);`
-		274
264	`}`	275	`}`
265		276