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

 void AlgorithmGrayCode::get3DPoints(const 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++){
-//        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::Size frameSize(frameCols, frameRows);
     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);
         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);
+    }
+    #ifdef SM_DEBUG
-//    cvtools::writeMat(frames0Rect[0], "frames0Rect_0.mat", "frames0Rect_0");
+        cvtools::writeMat(frames0Rect[0], "frames0Rect_0.mat", "frames0Rect_0");
-//    cvtools::writeMat(frames0[0], "frames0_0.mat", "frames0_0");
+        cvtools::writeMat(frames0[0], "frames0_0.mat", "frames0_0");
-//    cvtools::writeMat(frames0Rect[22], "frames0Rect_22.mat", "frames0Rect_22");
+        cvtools::writeMat(frames0Rect[22], "frames0Rect_22.mat", "frames0Rect_22");
-//    cvtools::writeMat(frames0Rect[23], "frames0Rect_23.mat", "frames0Rect_23");
+        cvtools::writeMat(frames0Rect[23], "frames0Rect_23.mat", "frames0Rect_23");
-//    cv::imwrite("frames0[0].png", frames0[0]);
+        cv::imwrite("frames0[0].png", frames0[0]);
-//    cv::imwrite("frames0Rect[0].png", frames0Rect[0]);
+        cv::imwrite("frames0Rect[0].png", frames0Rect[0]);
-//    cv::imwrite("frames1[0].png", frames1[0]);
+        cv::imwrite("frames1[0].png", frames1[0]);
-//    cv::imwrite("frames1Rect[0].png", frames1Rect[0]);
+        cv::imwrite("frames1Rect[0].png", frames1Rect[0]);
+    #endif
     // color debayer and remap
     cv::Mat color0Rect, color1Rect;
-//    frames0[0].convertTo(color0Rect, CV_8UC1, 1.0/256.0);
     cv::cvtColor(frames0[0], color0Rect, CV_BayerBG2RGB);
     cv::remap(color0Rect, color0Rect, map0X, map0Y, CV_INTER_LINEAR);
-//    frames1[0].convertTo(color1Rect, CV_8UC1, 1.0/256.0);
     cv::cvtColor(frames1[0], color1Rect, CV_BayerBG2RGB);
     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 > 10) & (occlusion0Rect < 250);
     cv::subtract(frames1Rect[0], frames1Rect[1], occlusion1Rect);
     // 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;
 //        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(256.0, M0, M0, CV_32F);
 //    cv::Mat A1 = frames1Rect[1];
 //    cv::Mat M1 = frames1Rect[0]-frames1Rect[1];
 //    cv::divide(256.0, M1, M1, CV_32F);
 //    for(int i=2; i<N; i++){
 //        cv::multiply(frames0Rect[i]-A0, M0, frames0Rect[i], 1.0, CV_8UC1);
 //        cv::multiply(frames1Rect[i]-A1, M1, frames1Rect[i], 1.0, CV_8UC1);
 //    }
-//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
 //cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");
 //cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");
+    #ifdef SM_DEBUG
-//    // convert to standard binary
+        // convert to standard binary
-//    cv::Mat code0Binary(code0Rect.rows, code0Rect.cols, CV_32F);
+        cv::Mat code0Binary(code0Rect.rows, code0Rect.cols, CV_32F);
-//    cv::Mat code1Binary(code1Rect.rows, code1Rect.cols, CV_32F);
+        cv::Mat code1Binary(code1Rect.rows, code1Rect.cols, CV_32F);
-//    for(int r=0; r<frameRectRows; r++){
+        for(int r=0; r<frameRectRows; r++){
-//        for(int c=0; c<frameRectCols; c++){
+            for(int c=0; c<frameRectCols; c++){
-//            if(code0Rect.at<int>(r,c) != -1)
+                if(code0Rect.at<int>(r,c) != -1)
-//                code0Binary.at<float>(r,c) = grayToBinary(code0Rect.at<int>(r,c));
+                    code0Binary.at<float>(r,c) = grayToBinary(code0Rect.at<int>(r,c));
-//            if(code1Rect.at<int>(r,c) != -1)
+                if(code1Rect.at<int>(r,c) != -1)
-//                code1Binary.at<float>(r,c) = grayToBinary(code1Rect.at<int>(r,c));
+                    code1Binary.at<float>(r,c) = grayToBinary(code1Rect.at<int>(r,c));
-//        }
+            }
-//    }
+        }
-//cvtools::writeMat(code0Binary, "code0Binary.mat", "code0Binary");
+        cvtools::writeMat(code0Binary, "code0Binary.mat", "code0Binary");
-//cvtools::writeMat(code1Binary, "code1Binary.mat", "code1Binary");
+        cvtools::writeMat(code1Binary, "code1Binary.mat", "code1Binary");
+    #endif
 //    // threshold on vertical discontinuities (due to imperfect rectification)
 //    cv::Mat edges0;
 //    cv::Sobel(code0Binary, edges0, -1, 0, 1, 5);
 //    occlusion0Rect = occlusion0Rect & (abs(edges0) < 50);
 //    cv::Mat edges1;
 //    cv::Sobel(code1Binary, edges1, -1, 0, 1, 5);
 //    occlusion1Rect = occlusion1Rect & (abs(edges1) < 50);
-//cvtools::writeMat(edges0, "edges0.mat", "edges0");
-//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<unsigned char>(r,c) == 0)
             if(occlusion1Rect.at<unsigned char>(r,c) == 0)
                 code1Rect.at<int>(r,c) = -1;
+        }
+    }
+    #ifdef SM_DEBUG
-//    cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");
+        cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");
-//    cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");
+        cvtools::writeMat*/(code1Rect, "code1Rect.mat", "code1Rect");
+    #endif
     // matching
-    std::vector<cv::Vec2f> q0Rect, q1Rect;
+    std::vector<cv::Vec2f> q0, q1;
     for(int row=0; row<frameRectRows; row++){
         // edge data structure containing [floor(column), labelLeft, labelRight, orderingRelation]
         std::vector<cv::Vec4i> edges0, edges1;
             float pos1 = frames0Rect[2*level+2].at<unsigned char>(row, c1);
             float neg0 = frames0Rect[2*level+3].at<unsigned char>(row, c0);
             float neg1 = frames0Rect[2*level+3].at<unsigned char>(row, c1);
             float col = c0 + (pos0 - neg0)/(neg1 - neg0 - pos1 + pos0);
-            q0Rect.push_back(cv::Point2f(col, row));
+            q0.push_back(cv::Point2f(col, row));
             // refine for camera 1
             c0 = matchedEdges1[i][0];
             c1 = c0+1;
             pos1 = frames1Rect[2*level+2].at<unsigned char>(row, c1);
             neg0 = frames1Rect[2*level+3].at<unsigned char>(row, c0);
             neg1 = frames1Rect[2*level+3].at<unsigned char>(row, c1);
             col = c0 + (pos0 - neg0)/(neg1 - neg0 - pos1 + pos0);
-            q1Rect.push_back(cv::Point2f(col, row));
+            q1.push_back(cv::Point2f(col, row));
+        }
+    }
-    int nMatches = q0Rect.size();
+    int nMatches = q0.size();
     if(nMatches < 1){
         Q.resize(0);
         color.resize(0);
     // retrieve color information (at integer coordinates)
     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 c0 = color0Rect.at<cv::Vec3b>(q0[i][1], q0[i][0]);
-        cv::Vec3b c1 = color1Rect.at<cv::Vec3b>(q1Rect[i][1], q1Rect[i][0]);
+        cv::Vec3b c1 = color1Rect.at<cv::Vec3b>(q1[i][1], q1[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 rectifying rotation
-//    cv::Mat R0Inv;
-//    cv::Mat(R0.t()).convertTo(R0Inv, CV_32F);
-//    QMat = R0Inv*QMat;
-//    cvtools::matToPoints3f(QMat, Q);
     // Triangulate by means of disparity projection
-    Q.resize(q0Rect.size());
+    Q.resize(q0.size());
     cv::Matx44f QRectx = cv::Matx44f(QRect);
     cv::Matx33f R0invx = cv::Matx33f(cv::Mat(R0.t()));
     #pragma omp parallel for
-    for(unsigned int i=0; i<q0Rect.size(); i++){
+    for(unsigned int i=0; i<q0.size(); i++){
-        float disparity = q0Rect[i][0]-q1Rect[i][0];
+        float disparity = q0[i][0]-q1[i][0];
-        cv::Vec4f Qih = QRectx*cv::Vec4f(q0Rect[i][0], q0Rect[i][1], disparity, 1.0);
+        cv::Vec4f Qih = QRectx*cv::Vec4f(q0[i][0], q0[i][1], disparity, 1.0);
         float winv = float(1.0)/Qih[3];
         Q[i] = R0invx * cv::Point3f(Qih[0]*winv, Qih[1]*winv, Qih[2]*winv);
+    }
+}

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(root)/src/algorithm/AlgorithmGrayCode.cpp – Rev 231 → 236