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#include "CodecGrayCode.h"
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#include "AlgorithmGrayCode.h"
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#include <cmath>
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#include <cmath>
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#ifndef log2f
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#ifndef log2f
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#define log2f(x) (log(x)/log(2.0))
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#define log2f(x) (log(x)/log(2.0))
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#endif
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#endif
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using namespace std;
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//using namespace std;
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 9 
 
10 
/*
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/*
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 * The purpose of this function is to convert an unsigned
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 * The purpose of this function is to convert an unsigned
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 * binary number to reflected binary Gray code.
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 * binary number to reflected binary Gray code.
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 *
 13 
 *
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 62 
 
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    return res;
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    return res;
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}
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}
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 65 
 
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// Algorithm
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// Algorithm
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AlgorithmGrayCode::AlgorithmGrayCode(unsigned int _screenCols, unsigned int _screenRows, CodecDir _dir) : Algorithm(_screenCols, _screenRows, _dir){
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AlgorithmGrayCode::AlgorithmGrayCode(unsigned int _screenCols, unsigned int _screenRows, CodingDir _dir) : Algorithm(_screenCols, _screenRows, _dir){
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 68 
 
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    // Number of horizontal encoding patterns
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    // Number of horizontal encoding patterns
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    Nhorz = ceilf(log2f((float)screenCols));;
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    Nhorz = ceilf(log2f((float)screenCols))*2;
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 71 
 
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    // Number of vertical encoding patterns
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    // Number of vertical encoding patterns
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    Nvert = ceilf(log2f((float)screenRows));;
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    Nvert = ceilf(log2f((float)screenRows))*2;
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- 
 
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    // on/off patterns
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    this->N = 2;
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 77 
 
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    // Set total pattern number
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    // Set total pattern number
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    if(dir & CodecDirHorizontal)
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    if(dir & CodingDirHorizontal)
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        this->N += Nhorz;
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        this->N += Nhorz;
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 81 
 
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    if(dir & CodecDirVertical)
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    if(dir & CodingDirVertical)
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        this->N += Nvert;
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        this->N += Nvert;
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 84 
 
- 
 
 85 
    // all on pattern
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 86 
    cv::Mat pattern(1, 1, CV_8UC3);
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    pattern.setTo(cv::Vec3b(255.0,255.0,255.0));
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 88 
    patterns.push_back(pattern);
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 89 
 
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    // all off pattern
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    pattern.setTo(cv::Vec3b(0.0,0.0,0.0));
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 92 
    patterns.push_back(pattern);
- 
 
 93 
 
82 
    if(dir & CodecDirHorizontal){
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    if(dir & CodingDirHorizontal){
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        // Precompute horizontally encoding patterns
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        // Precompute horizontally encoding patterns
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        for(unsigned int p=0; p<Nhorz; p++){
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        for(unsigned int p=0; p<Nhorz; p++){
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            cv::Mat patternP(1, screenCols, CV_8UC3);
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            cv::Mat patternP(1, screenCols, CV_8UC3);
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            // Loop through columns in first row
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            // Loop through columns in first row
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            for(unsigned int j=0; j<screenCols; j++){
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            for(unsigned int j=0; j<screenCols; j++){
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                patternP.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0*amp,255.0*amp,255.0*amp);
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                patternP.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0*amp,255.0*amp,255.0*amp);
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            }
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            }
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            patterns.push_back(patternP);
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            patterns.push_back(patternP);
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        }
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        }
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    }
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    }
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    if(dir & CodecDirVertical){
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    if(dir & CodingDirVertical){
97 
        // Precompute vertical encoding patterns
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        // Precompute vertical encoding patterns
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        for(unsigned int p=0; p<Nvert; p++){
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        for(unsigned int p=0; p<Nvert; p++){
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            cv::Mat patternP(screenRows, 1, CV_8UC3);
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            cv::Mat patternP(screenRows, 1, CV_8UC3);
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 112 
 
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            // Loop through rows in first column
 113 
            // Loop through rows in first column
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 126 
 
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cv::Mat AlgorithmGrayCode::getEncodingPattern(unsigned int depth){
 127 
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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// Algorithm
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AlgorithmGrayCode::AlgorithmGrayCode(CodecDir _dir, int _screenResX, int _screenResY) : Algorithm(_dir, _screenResX, _screenResY){
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121 
 
 131 
 
122 
    // Number of horizontal encoding patterns
 132 
bool sortingLarger(cv::Vec4f i,cv::Vec4f j){ return (i[3]<j[3]);}
123 
    Nhorz = ceilf(log2f((float)screenCols));;
 133 
void getEdgeLabels(const cv::Mat& scanLine, int Nbits, std::vector<cv::Vec4f>& edges){
124 
 
 134 
 
- 
 
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    int nCols = scanLine.cols;
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 136 
 
125 
    // Number of vertical encoding patterns
 137 
    for(int col=1; col<nCols; nCols++){
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 138 
 
126 
    Nvert = ceilf(log2f((float)screenRows));;
 139 
        int labelLeft = scanLine.at<int>(0,col-1);
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        int labelRight = scanLine.at<int>(0,col);
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        if(labelLeft != -1 && labelRight != -1 && labelLeft != labelRight){
- 
 
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- 
 
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            int orderingRelation = (2 << Nbits)*labelLeft + labelRight;
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            edges.push_back(cv::Vec4f(col, labelLeft, labelRight, orderingRelation));
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 148 
        }
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 149 
    }
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    std::sort(edges.begin(), edges.end(), sortingLarger);
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}
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}
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void AlgorithmGrayCode::getCorrespondences(const std::vector<cv::Mat>& frames0, const std::vector<cv::Mat>& frames1, std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f>& color){
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void AlgorithmGrayCode::getCorrespondences(SMCalibrationParameters calibration, const std::vector<cv::Mat>& frames0, const std::vector<cv::Mat>& frames1, std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f>& color){
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 155 
 
- 
 
 156 
    assert(frames0.size() == N);
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 157 
    assert(frames1.size() == N);
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 158 
 
- 
 
 159 
    // occlusion maps
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 160 
    cv::Mat occlusion0 = (frames0[0] - frames0[1]) > 0;
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 161 
    cv::Mat occlusion1 = (frames1[0] - frames1[1]) > 0;
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 162 
 
- 
 
 163 
    // decoded patterns
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 164 
    cv::Mat code0, code1;
- 
 
 165 
 
- 
 
 166 
    int Nbits = (N-2)/2;
- 
 
 167 
    for(int i=0; i<Nbits; i++){
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 168 
        cv::Mat bit0 = (frames0[i*2+2] - frames0[i*2+3]) > 0;
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        code0 += bit0*pow(2, i);
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 170 
        cv::Mat bit1 = (frames1[i*2+2] - frames1[i*2+3]) > 0;
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 171 
        code1 += bit1*pow(2, i);
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 172 
    }
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 173 
 
- 
 
 174 
    // rectifying homographies
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 175 
    cv::Size frameSize(frames0[0].cols, frames0[0].rows);
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 176 
    cv::Mat R0, R1, P0, P1, Q;
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 177 
    cv::stereoRectify(calibration.K0, calibration.k0, calibration.K1, calibration.k1, frameSize, calibration.R1, calibration.T1, R0, R1, P0, P1, Q);
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 178 
 
- 
 
 179 
    // interpolation maps
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 180 
    cv::Mat map0X, map0Y, map1X, map1Y;
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 181 
    cv::initUndistortRectifyMap(P0, calibration.k0, R0, cv::Mat(), frameSize, CV_32FC1, map0X, map0Y);
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 182 
    cv::initUndistortRectifyMap(P1, calibration.k1, R1, cv::Mat(), frameSize, CV_32FC1, map1X, map1Y);
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 183 
 
- 
 
 184 
    // remap
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 185 
    cv::remap(occlusion0, occlusion0, map0X, map0Y, cv::INTER_CUBIC);
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 186 
    cv::remap(occlusion1, occlusion1, map1X, map1Y, cv::INTER_CUBIC);
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    cv::remap(code0, code0, map1X, map1Y, cv::INTER_CUBIC);
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 188 
    cv::remap(code1, code1, map1X, map1Y, cv::INTER_CUBIC);
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 189 
 
- 
 
 190 
    int nRows = occlusion0.rows;
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 191 
    int nCols = occlusion0.cols;
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 192 
 
- 
 
 193 
    // matching
- 
 
 194 
    for(int row=0; row<nRows; row++){
- 
 
 195 
 
- 
 
 196 
        std::vector<cv::Vec4f> edges0, edges1;
- 
 
 197 
 
- 
 
 198 
        getEdgeLabels(code0.row(row), Nbits, edges0);
- 
 
 199 
        getEdgeLabels(code1.row(row), Nbits, edges1);
- 
 
 200 
 
- 
 
 201 
        // REMOVE DOUBLE ENTRIES!
- 
 
 202 
 
- 
 
 203 
        int i=0, j=0;
- 
 
 204 
        while(i<edges0.size() && j<edges1.size()){
- 
 
 205 
 
- 
 
 206 
            if(edges0[i][3] == edges1[j][3]){
- 
 
 207 
                q0.push_back(cv::Point2f(row, edges0[i][0]));
- 
 
 208 
                q1.push_back(cv::Point2f(row, edges1[j][0]));
- 
 
 209 
                i += 1;
- 
 
 210 
                j += 1;
- 
 
 211 
            } else if(edges0[i][3] < edges1[i][3]){
- 
 
 212 
                i += 1;
- 
 
 213 
            } else if(edges0[i][3] > edges1[i][3]){
- 
 
 214 
                j += 1;
- 
 
 215 
            }
- 
 
 216 
        }
- 
 
 217 
 
130 
 
 218 
 
- 
 
 219 
    }
131 
 
 220 
 
- 
 
 221 
    // retrieve color information
- 
 
 222 
    int nMatches = q0.size();
- 
 
 223 
    color.resize(nMatches);
- 
 
 224 
    for(int i=0; i<nMatches; i++){
132 
 
 225 
 
- 
 
 226 
        cv::Vec3f color0 = frames0[0].at<cv::Vec3f>(q0[i].y, q0[i].x);
- 
 
 227 
        cv::Vec3f color1 = frames1[0].at<cv::Vec3f>(q1[i].y, q1[i].x);
133 
 
 228 
 
- 
 
 229 
        color[i] = 0.5*(color0 + color1);
- 
 
 230 
    }
134 
 
 231 
 
135 
}
 232 
}