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

 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);
 cv::Mat AlgorithmGrayCode::getEncodingPattern(unsigned int depth){
     return patterns[depth];
+}
-bool sortingLarger(cv::Vec4f i,cv::Vec4f j){ return (i[3]<j[3]);}
+bool sortingLarger(cv::Vec4i i,cv::Vec4i j){ return (i[3]<j[3]);}
-bool sortingEqual(cv::Vec4f i,cv::Vec4f 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::Vec4f>& edges){
+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;
     for(int col=1; col<nCols; col++){
         labelLeft = labelRight;
         labelRight = data[col];
+        // labels need to non-background, and differ in exactly one bit
-        if(labelLeft != -1 && labelRight != -1 && labelLeft != labelRight){
+        if(labelLeft != -1 && labelRight != -1 && countBits(labelLeft^labelRight) == 1){
             int orderingRelation = (labelLeft << Nbits) + labelRight;
+            // store left label column
-            edges.push_back(cv::Vec4f(col-0.5, labelLeft, labelRight, orderingRelation));
+            edges.push_back(cv::Vec4i(col-1, labelLeft, labelRight, orderingRelation));
+        }
+    }
     // sort
     std::sort(edges.begin(), edges.end(), sortingLarger);
     // remove duplicates
-    std::vector<cv::Vec4f>::iterator it;
+    std::vector<cv::Vec4i>::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);
-    for(int i=0; i<1920; i++){
+//    for(int i=0; i<1920; i++){
-        std::cout << i << " " << binaryToGray(i) << " " << grayToBinary(binaryToGray(i)) << std::endl;
+//        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::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 << "R0" << std::endl << R0 << std::endl;
-    std::cout << "P0" << std::endl << P0 << std::endl;
+//    std::cout << "P0" << std::endl << P0 << std::endl;
-    std::cout << "R1" << std::endl << R1 << std::endl;
+//    std::cout << "R1" << std::endl << R1 << std::endl;
-    std::cout << "P1" << std::endl << P1 << 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);
     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::remap(temp, frames0Rect[i], map0X, map0Y, CV_INTER_CUBIC);
         cv::cvtColor(frames1[i], temp, CV_RGB2GRAY);
-        cv::remap(temp, frames1Rect[i], map1X, map1Y, CV_INTER_LINEAR);
+        cv::remap(temp, frames1Rect[i], map1X, map1Y, CV_INTER_CUBIC);
+    }
+//    cv::imwrite("frames0Rect[N-1].png", frames0Rect[N-1]);
     // 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
+    // occlusion masks
     cv::Mat occlusion0Rect, occlusion1Rect;
     cv::subtract(frames0Rect[0], frames0Rect[1], occlusion0Rect);
     occlusion0Rect = occlusion0Rect > 50;
     cv::subtract(frames1Rect[0], frames1Rect[1], occlusion1Rect);
     occlusion1Rect = occlusion1Rect > 50;
+    // erode occlusion masks
+    cv::Mat strel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(3,3));
+    cv::erode(occlusion0Rect, occlusion0Rect, strel);
+    cv::erode(occlusion1Rect, occlusion1Rect, strel);
 //cvtools::writeMat(occlusion0Rect, "occlusion0Rect.mat", "occlusion0Rect");
 //cvtools::writeMat(occlusion1Rect, "occlusion1Rect.mat", "occlusion1Rect");
     // decode patterns
     cv::Mat code0Rect(frameRectRows, frameRectCols, CV_32S, cv::Scalar(-1));
     // matching
     std::vector<cv::Vec2f> q0Rect, q1Rect;
     for(int row=0; row<frameRectRows; row++){
-        std::vector<cv::Vec4f> edges0, edges1;
+        std::vector<cv::Vec4i> edges0, edges1;
         // sorted, unique edges
         getEdgeLabels(code0Rect.row(row), Nbits, edges0);
         getEdgeLabels(code1Rect.row(row), Nbits, edges1);
-        // subpixel refinement
+        // 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]){
-                q0Rect.push_back(cv::Vec2f(edges0[i][0], row));
+                matchedEdges0.push_back(edges0[i]);
-                q1Rect.push_back(cv::Vec2f(edges1[j][0], row));
+                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<char>(row, c0);
+            float pos1 = frames0Rect[2*level+2].at<char>(row, c1);
+            float neg0 = frames0Rect[2*level+3].at<char>(row, c0);
+            float neg1 = frames0Rect[2*level+3].at<char>(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<char>(row, c0);
+            pos1 = frames1Rect[2*level+2].at<char>(row, c1);
+            neg0 = frames1Rect[2*level+3].at<char>(row, c0);
+            neg1 = frames1Rect[2*level+3].at<char>(row, c1);
+            col = c0 + (pos0 - neg0)/(neg1 - neg0 - pos1 + pos0);
+            q1Rect.push_back(cv::Point2f(col, row));
+        }
+    }
     // retrieve color information
     int nMatches = q0Rect.size();

Subversion Repositories seema-scanner

(root)/src/algorithm/AlgorithmGrayCode.cpp – Rev 45 → 47