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

         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(frames0Rect[1], "frames0Rect_1.mat", "frames0Rect_1");
+//    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("frames1[0].png", frames1[0]);
 //    cv::imwrite("frames1Rect[0].png", frames1Rect[0]);
     // color debayer and remap
-    cv::Mat temp;
     cv::Mat color0Rect, color1Rect;
+    frames0[0].convertTo(color0Rect, CV_8UC1, 1.0/256.0);
-    cv::cvtColor(frames0[0], temp, CV_BayerBG2RGB);
+    cv::cvtColor(color0Rect, color0Rect, CV_BayerBG2RGB);
-    cv::remap(temp, color0Rect, map0X, map0Y, CV_INTER_LINEAR);
+    cv::remap(color0Rect, color0Rect, map0X, map0Y, CV_INTER_LINEAR);
+    frames1[0].convertTo(color1Rect, CV_8UC1, 1.0/256.0);
-    cv::cvtColor(frames1[0], temp, CV_BayerBG2RGB);
+    cv::cvtColor(color1Rect, color1Rect, CV_BayerBG2RGB);
-    cv::remap(temp, color1Rect, map1X, map1Y, CV_INTER_LINEAR);
+    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 > 25) & (occlusion0Rect < 250);
+    occlusion0Rect = (occlusion0Rect > 16000) & (occlusion0Rect < 54000);
     cv::subtract(frames1Rect[0], frames1Rect[1], occlusion1Rect);
-    occlusion1Rect = (occlusion1Rect > 25) & (occlusion1Rect < 250);
+    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 bit0;
+        cv::Mat temp, bit0, bit1;
-        cv::subtract(frames0Rect[i*2+2], frames0Rect[i*2+3], bit0);
+        cv::compare(frames0Rect[i*2+2], frames0Rect[i*2+3], temp, cv::CMP_GT);
-        bit0 = bit0 > 0;
+        //cvtools::rshift(temp, 8);
-        bit0.convertTo(bit0, CV_32S, 1.0/255.0);
+        temp.convertTo(bit0, CV_32S, 1.0/255.0);
-//      cvtools::writeMat(bit0, "bit0.mat", "bit0");
-        cv::add(code0Rect, bit0*twopowi(Nbits-i-1), code0Rect, cv::Mat(), CV_32S);
+        cv::add(code0Rect, bit0*twopowi(Nbits-i-1), code0Rect, cv::noArray(), CV_32S);
-        cv::Mat bit1;
-        cv::subtract(frames1Rect[i*2+2], frames1Rect[i*2+3], bit1);
+        cv::compare(frames1Rect[i*2+2], frames1Rect[i*2+3], temp, cv::CMP_GT);
-        bit1 = bit1 > 0;
+        //cvtools::rshift(temp, 8);
-        bit1.convertTo(bit1, CV_32S, 1.0/255.0);
+        temp.convertTo(bit1, CV_32S, 1.0/255.0);
-        cv::add(code1Rect, bit1*twopowi(Nbits-i-1), code1Rect, cv::Mat(), CV_32S);
+        cv::add(code1Rect, bit1*twopowi(Nbits-i-1), code1Rect, cv::noArray(), CV_32S);
+    }
-//cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");
+cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");
-//cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");
+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);
 //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<char>(r,c) == 0)
+            if(occlusion0Rect.at<unsigned char>(r,c) == 0)
-                code0Rect.at<float>(r,c) = -1;
+                code0Rect.at<int>(r,c) = -1;
-            if(occlusion1Rect.at<char>(r,c) == 0)
+            if(occlusion1Rect.at<unsigned char>(r,c) == 0)
-                code1Rect.at<float>(r,c) = -1;
+                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]
             // refine for camera 0
             float c0 = matchedEdges0[i][0];
             float c1 = c0+1;
-            float pos0 = frames0Rect[2*level+2].at<char>(row, c0);
+            float pos0 = frames0Rect[2*level+2].at<unsigned short>(row, c0);
-            float pos1 = frames0Rect[2*level+2].at<char>(row, c1);
+            float pos1 = frames0Rect[2*level+2].at<unsigned short>(row, c1);
-            float neg0 = frames0Rect[2*level+3].at<char>(row, c0);
+            float neg0 = frames0Rect[2*level+3].at<unsigned short>(row, c0);
-            float neg1 = frames0Rect[2*level+3].at<char>(row, c1);
+            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<char>(row, c0);
+            pos0 = frames1Rect[2*level+2].at<unsigned short>(row, c0);
-            pos1 = frames1Rect[2*level+2].at<char>(row, c1);
+            pos1 = frames1Rect[2*level+2].at<unsigned short>(row, c1);
-            neg0 = frames1Rect[2*level+3].at<char>(row, c0);
+            neg0 = frames1Rect[2*level+3].at<unsigned short>(row, c0);
-            neg1 = frames1Rect[2*level+3].at<char>(row, c1);
+            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));
+        }

Subversion Repositories seema-scanner

(root)/src/algorithm/AlgorithmGrayCode.cpp @ 182 – Rev 114 → 120