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#include "algorithmtools.h"
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#include "algorithmtools.h"
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// Algorithm
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// Algorithm
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AlgorithmGrayCode::AlgorithmGrayCode(unsigned int _screenCols, unsigned int _screenRows) : Algorithm(_screenCols, _screenRows){
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AlgorithmGrayCode::AlgorithmGrayCode(unsigned int _screenCols, unsigned int _screenRows) : Algorithm(_screenCols, _screenRows){
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    Nbits = ceilf(log2f((float)screenCols)) - 1;
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    Nbits = 6;
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    N = 2 + Nbits*2;
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    N = 2 + Nbits*2;
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    // all on pattern
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    // all on pattern
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    cv::Mat allOn(1, screenCols, CV_8UC3, cv::Scalar::all(255));
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    cv::Mat allOn(1, screenCols, CV_8UC3, cv::Scalar::all(255));
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    patterns.push_back(allOn);
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    patterns.push_back(allOn);
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        }
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        }
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        patterns.push_back(pattern);
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        patterns.push_back(pattern);
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        patterns.push_back(patternInv);
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        patterns.push_back(patternInv);
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    }
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    }
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    std::cout << "N patterns" << patterns.size() << std::endl;
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}
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}
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cv::Mat AlgorithmGrayCode::getEncodingPattern(unsigned int depth){
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cv::Mat AlgorithmGrayCode::getEncodingPattern(unsigned int depth){
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    return patterns[depth];
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    return patterns[depth];
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}
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}
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    for(int col=1; col<nCols; col++){
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    for(int col=1; col<nCols; col++){
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        labelLeft = labelRight;
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        labelLeft = labelRight;
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        labelRight = data[col];
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        labelRight = data[col];
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        // labels need to be non-background, and differ in exactly one bit
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        // labels need to be non-background
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        if(labelLeft != -1 && labelRight != -1) {
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        if(labelLeft != -1 && labelRight != -1 && (grayToBinary(labelRight) == grayToBinary(labelLeft)+1)){
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            unsigned int binLeft = grayToBinary(labelLeft);
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            unsigned int binRight = grayToBinary(labelRight);
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            // and differ in exactly one bit
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            if (binRight + 1 == binLeft || binRight == binLeft + 1) {
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            int orderingRelation = (labelLeft << Nbits) + labelRight;
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                int orderingRelation = (labelLeft << Nbits) + labelRight;
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            // store left label column
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                // store left label column
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            edges.push_back(cv::Vec4i(col-1, labelLeft, labelRight, orderingRelation));
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                edges.push_back(cv::Vec4i(col-1, labelLeft, labelRight, orderingRelation));
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            }
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        }
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        }
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    }
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    }
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    // sort
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    // sort
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    std::sort(edges.begin(), edges.end(), sortingLarger);
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    std::sort(edges.begin(), edges.end(), sortingLarger);
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        cv::remap(temp, frames0Rect[i], map0X, map0Y, CV_INTER_LINEAR);
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        cv::remap(temp, frames0Rect[i], map0X, map0Y, CV_INTER_LINEAR);
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        cv::cvtColor(frames1[i], temp, CV_RGB2GRAY);
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        cv::cvtColor(frames1[i], temp, CV_RGB2GRAY);
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        cv::remap(temp, frames1Rect[i], map1X, map1Y, CV_INTER_LINEAR);
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        cv::remap(temp, frames1Rect[i], map1X, map1Y, CV_INTER_LINEAR);
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    }
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    }
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    #ifdef QT_DEBUG
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        cvtools::writeMat(frames0Rect[0], "frames0Rect_0.mat", "frames0Rect_0");
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        cvtools::writeMat(frames0[0], "frames0_0.mat", "frames0_0");
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        cvtools::writeMat(frames0Rect[22], "frames0Rect_22.mat", "frames0Rect_22");
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        cvtools::writeMat(frames0Rect[23], "frames0Rect_23.mat", "frames0Rect_23");
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        cv::imwrite("frames0[0].png", frames0[0]);
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        cv::imwrite("frames0Rect[0].png", frames0Rect[0]);
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        cv::imwrite("frames1[0].png", frames1[0]);
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        cv::imwrite("frames1Rect[0].png", frames1Rect[0]);
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    #endif
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    // color remap
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    // color remap
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    cv::Mat color0Rect, color1Rect;
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    cv::Mat color0Rect, color1Rect;
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    cv::remap(frames0[0], color0Rect, map0X, map0Y, CV_INTER_LINEAR);
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    cv::remap(frames0[0], color0Rect, map0X, map0Y, CV_INTER_LINEAR);
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    cv::remap(frames1[0], color1Rect, map1X, map1Y, CV_INTER_LINEAR);
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    cv::remap(frames1[0], color1Rect, map1X, map1Y, CV_INTER_LINEAR);
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        cv::compare(frames1Rect[i*2+2], frames1Rect[i*2+3], temp, cv::CMP_GT);
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        cv::compare(frames1Rect[i*2+2], frames1Rect[i*2+3], temp, cv::CMP_GT);
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        temp.convertTo(bit1, CV_32S, 1.0/255.0);
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        temp.convertTo(bit1, CV_32S, 1.0/255.0);
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        cv::add(code1Rect, bit1*twopowi(Nbits-i-1), code1Rect, cv::noArray(), CV_32S);
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        cv::add(code1Rect, bit1*twopowi(Nbits-i-1), code1Rect, cv::noArray(), CV_32S);
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    }
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    }
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//cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");
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//cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");
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//cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");
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//cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");
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    #ifdef QT_DEBUG
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    #ifdef QT_DEBUG
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            if(occlusion1Rect.at<unsigned char>(r,c) == 0)
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            if(occlusion1Rect.at<unsigned char>(r,c) == 0)
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                code1Rect.at<int>(r,c) = -1;
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                code1Rect.at<int>(r,c) = -1;
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        }
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        }
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    }
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    }
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#ifdef QT_DEBUG
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    cv::imwrite("code0Rect.png", code0Rect);
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    cv::imwrite("code1Rect.png", code1Rect);
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#endif
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    #ifdef QT_DEBUG
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    #ifdef QT_DEBUG
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        cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");
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        cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");
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        cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");
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        cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");
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    #endif
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    #endif
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