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#include "AlgorithmGrayCode.h"
 1 
#include "AlgorithmGrayCode.h"
2 
#include <cmath>
 2 
#include <cmath>
- 
 
 3 
#include "cvtools.h"
3 
 
 4 
 
4 
#ifndef log2f
 5 
#ifndef log2f
5 
#define log2f(x) (log(x)/log(2.0))
 6 
#define log2f(x) (log(x)/log(2.0))
6 
#endif
 7 
#endif
7 
 
 8 
 
Line 64... Line 65...
64 
}
 65 
}
65 
 
 66 
 
66 
// Algorithm
 67 
// Algorithm
67 
AlgorithmGrayCode::AlgorithmGrayCode(unsigned int _screenCols, unsigned int _screenRows, CodingDir _dir) : Algorithm(_screenCols, _screenRows, _dir){
 68 
AlgorithmGrayCode::AlgorithmGrayCode(unsigned int _screenCols, unsigned int _screenRows, CodingDir _dir) : Algorithm(_screenCols, _screenRows, _dir){
68 
 
 69 
 
69 
    // Number of horizontal encoding patterns
 - 
 
70 
    Nhorz = ceilf(log2f((float)screenCols))*2;
 - 
 
71 
 
 - 
 
72 
    // Number of vertical encoding patterns
 - 
 
73 
    Nvert = ceilf(log2f((float)screenRows))*2;
 - 
 
74 
 
 - 
 
75 
    // on/off patterns
 70 
    // on/off patterns
76 
    this->N = 2;
 - 
 
77 
 
 - 
 
78 
    // Set total pattern number
 71 
    Nbits = ceilf(log2f((float)screenCols));
79 
    if(dir & CodingDirHorizontal)
 - 
 
80 
        this->N += Nhorz;
 - 
 
81 
 
 - 
 
82 
    if(dir & CodingDirVertical)
 - 
 
83 
        this->N += Nvert;
 72 
    N = 2 + Nbits*2;
84 
 
 73 
 
85 
    // all on pattern
 74 
    // all on pattern
86 
    cv::Mat pattern(1, 1, CV_8UC3);
 75 
    cv::Mat allOn(1, screenCols, CV_8UC3, cv::Scalar::all(255));
87 
    pattern.setTo(cv::Vec3b(255.0,255.0,255.0));
 - 
 
88 
    patterns.push_back(pattern);
 76 
    patterns.push_back(allOn);
89 
 
 77 
 
90 
    // all off pattern
 78 
    // all off pattern
91 
    pattern.setTo(cv::Vec3b(0.0,0.0,0.0));
 79 
    cv::Mat allOff(1, screenCols, CV_8UC3, cv::Scalar::all(0));
92 
    patterns.push_back(pattern);
 80 
    patterns.push_back(allOff);
93 
 
 81 
 
94 
    if(dir & CodingDirHorizontal){
 - 
 
- 
 
 82 
 
95 
        // Precompute horizontally encoding patterns
 83 
    // horizontally encoding patterns
96 
        for(unsigned int p=0; p<Nhorz; p++){
 84 
    for(unsigned int p=0; p<Nbits; p++){
97 
            cv::Mat patternP(1, screenCols, CV_8UC3);
 85 
        cv::Mat pattern(1, screenCols, CV_8UC3);
98 
            // Loop through columns in first row
 - 
 
99 
            for(unsigned int j=0; j<screenCols; j++){
 - 
 
100 
                unsigned int jGray = binaryToGray(j);
 - 
 
101 
                // Amplitude of channels
 - 
 
102 
                float amp = get_bit(jGray, Nhorz-p);
 - 
 
103 
                patternP.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0*amp,255.0*amp,255.0*amp);
 - 
 
104 
            }
 - 
 
105 
            patterns.push_back(patternP);
 - 
 
106 
        }
 - 
 
107 
    }
 - 
 
108 
    if(dir & CodingDirVertical){
 - 
 
109 
        // Precompute vertical encoding patterns
 - 
 
110 
        for(unsigned int p=0; p<Nvert; p++){
 - 
 
111 
            cv::Mat patternP(screenRows, 1, CV_8UC3);
 86 
        cv::Mat patternInv(1, screenCols, CV_8UC3);
112 
 
 87 
 
113 
            // Loop through rows in first column
 - 
 
114 
            for(unsigned int i=0; i<screenRows; i++){
 88 
        for(unsigned int j=0; j<screenCols; j++){
115 
 
 89 
 
116 
                unsigned int iGray = binaryToGray(i);
 90 
            unsigned int jGray = binaryToGray(j);
117 
 
 - 
 
118 
                // Amplitude of channels
 91 
            // Amplitude of channels
119 
                float amp = get_bit(iGray, Nvert-p); // Nvert-p-1?
 92 
            int bit = get_bit(jGray, Nbits-p);
120 
                patternP.at<cv::Vec3b>(i,0) = cv::Vec3b(255.0*amp,255.0*amp,255.0*amp);
 93 
            pattern.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0*bit,255.0*bit,255.0*bit);
121 
            }
 94 
            int invBit = bit^1;
122 
            patterns.push_back(patternP);
 95 
            patternInv.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0*invBit,255.0*invBit,255.0*invBit);
123 
        }
 96 
        }
- 
 
 97 
        patterns.push_back(pattern);
- 
 
 98 
        patterns.push_back(patternInv);
124 
    }
 99 
    }
- 
 
 100 
 
- 
 
 101 
 
125 
}
 102 
}
126 
 
 103 
 
127 
cv::Mat AlgorithmGrayCode::getEncodingPattern(unsigned int depth){
 104 
cv::Mat AlgorithmGrayCode::getEncodingPattern(unsigned int depth){
128 
    return patterns[depth];
 105 
    return patterns[depth];
129 
}
 106 
}
130 
 
 107 
 
131 
 
 108 
 
132 
bool sortingLarger(cv::Vec4f i,cv::Vec4f j){ return (i[3]<j[3]);}
 109 
bool sortingLarger(cv::Vec4f i,cv::Vec4f j){ return (i[3]<j[3]);}
- 
 
 110 
bool sortingEqual(cv::Vec4f i,cv::Vec4f j){ return (i[3]==j[3]);}
133 
void getEdgeLabels(const cv::Mat& scanLine, int Nbits, std::vector<cv::Vec4f>& edges){
 111 
void getEdgeLabels(const cv::Mat& scanLine, int Nbits, std::vector<cv::Vec4f>& edges){
134 
 
 112 
 
135 
    int nCols = scanLine.cols;
 113 
    int nCols = scanLine.cols;
- 
 
 114 
    const short *data = scanLine.ptr<const short>(0);
136 
 
 115 
 
- 
 
 116 
    short labelLeft;
137 
    for(int col=1; col<nCols; nCols++){
 117 
    short labelRight = data[0];
138 
 
 118 
 
- 
 
 119 
    for(int col=1; col<nCols; col++){
- 
 
 120 
 
139 
        int labelLeft = scanLine.at<int>(0,col-1);
 121 
        labelLeft = labelRight;
140 
        int labelRight = scanLine.at<int>(0,col);
 122 
        labelRight = data[col];
141 
 
 123 
 
142 
        if(labelLeft != -1 && labelRight != -1 && labelLeft != labelRight){
 124 
        if(labelLeft != -1 && labelRight != -1 && labelLeft != labelRight){
143 
 
 125 
 
144 
            int orderingRelation = (2 << Nbits)*labelLeft + labelRight;
 126 
            int orderingRelation = (2 << Nbits)*labelLeft + labelRight;
145 
 
 127 
 
146 
            edges.push_back(cv::Vec4f(col, labelLeft, labelRight, orderingRelation));
 128 
            edges.push_back(cv::Vec4f(col, labelLeft, labelRight, orderingRelation));
147 
 
 129 
 
148 
        }
 130 
        }
149 
    }
 131 
    }
150 
 
 132 
 
- 
 
 133 
    // sort
151 
    std::sort(edges.begin(), edges.end(), sortingLarger);
 134 
    std::sort(edges.begin(), edges.end(), sortingLarger);
- 
 
 135 
 
- 
 
 136 
    // remove duplicates
- 
 
 137 
    std::vector<cv::Vec4f>::iterator it;
- 
 
 138 
    it = std::unique(edges.begin(), edges.end(), sortingEqual);
- 
 
 139 
    edges.resize(std::distance(edges.begin(),it));
152 
}
 140 
}
153 
 
 141 
 
154 
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){
 142 
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){
155 
 
 143 
 
156 
    assert(frames0.size() == N);
 144 
    assert(frames0.size() == N);
157 
    assert(frames1.size() == N);
 145 
    assert(frames1.size() == N);
158 
 
 146 
 
- 
 
 147 
    int frameRows = frames0[0].rows;
- 
 
 148 
    int frameCols = frames0[0].cols;
- 
 
 149 
 
- 
 
 150 
    // convert to gray-scale
- 
 
 151 
    std::vector<cv::Mat> frames0Gray(N);
- 
 
 152 
    std::vector<cv::Mat> frames1Gray(N);
- 
 
 153 
    for(int i=0; i<N; i++){
- 
 
 154 
        cv::cvtColor(frames0[i], frames0Gray[i], CV_RGB2GRAY);
- 
 
 155 
        cv::cvtColor(frames1[i], frames1Gray[i], CV_RGB2GRAY);
- 
 
 156 
    }
- 
 
 157 
 
159 
    // occlusion maps
 158 
    // occlusion maps
- 
 
 159 
    cv::Mat occlusion0, occlusion1;
160 
    cv::Mat occlusion0 = (frames0[0] - frames0[1]) > 0;
 160 
    cv::subtract(frames0Gray[0], frames0Gray[1], occlusion0);
- 
 
 161 
    occlusion0 = occlusion0 > 50;
161 
    cv::Mat occlusion1 = (frames1[0] - frames1[1]) > 0;
 162 
    cv::subtract(frames1Gray[0], frames1Gray[1], occlusion1);
- 
 
 163 
    occlusion1 = occlusion1 > 50;
162 
 
 164 
 
163 
    // decoded patterns
 165 
//    cvtools::writeMat(occlusion0, "occlusion0.mat", "occlusion0");
164 
    cv::Mat code0, code1;
 166 
//    cvtools::writeMat(occlusion1, "occlusion1.mat", "occlusion1");
165 
 
 167 
 
166 
    int Nbits = (N-2)/2;
 168 
    // decoded patterns
- 
 
 169 
    cv::Mat code0(frameRows, frameCols, CV_16S, cv::Scalar(-1)), code1(frameRows, frameCols, CV_16S, cv::Scalar(-1));
- 
 
 170 
    cvtools::writeMat(code0, "code0.mat", "code0");
- 
 
 171 
    cvtools::writeMat(code1, "code1.mat", "code1");
167 
    for(int i=0; i<Nbits; i++){
 172 
    for(int i=0; i<Nbits; i++){
- 
 
 173 
        cv::Mat bit0;
168 
        cv::Mat bit0 = (frames0[i*2+2] - frames0[i*2+3]) > 0;
 174 
        cv::subtract(frames0Gray[i*2+2], frames0Gray[i*2+3], bit0);
169 
        code0 += bit0*pow(2, i);
 175 
        bit0 = bit0 > 50;
- 
 
 176 
//    cvtools::writeMat(bit0, "bit0.mat", "bit0");
- 
 
 177 
        cv::add(code0, bit0/255*powi(2,i), code0, occlusion0, CV_16S);
- 
 
 178 
//    cvtools::writeMat(code0, "code0.mat", "code0");
- 
 
 179 
        cv::Mat bit1;
170 
        cv::Mat bit1 = (frames1[i*2+2] - frames1[i*2+3]) > 0;
 180 
        cv::subtract(frames1Gray[i*2+2], frames1Gray[i*2+3], bit1);
171 
        code1 += bit1*pow(2, i);
 181 
        bit1 = bit1 > 50;
- 
 
 182 
        cv::add(code1, bit1/255*powi(2,i), code1, occlusion1, CV_16S);
172 
    }
 183 
    }
173 
 
 184 
 
- 
 
 185 
    cvtools::writeMat(code0, "code0.mat", "code0");
- 
 
 186 
    cvtools::writeMat(code1, "code1.mat", "code1");
- 
 
 187 
 
174 
    // rectifying homographies
 188 
    // rectifying homographies (rotation+projections)
175 
    cv::Size frameSize(frames0[0].cols, frames0[0].rows);
 189 
    cv::Size frameSize(frameCols, frameRows);
- 
 
 190 
    cv::Mat R, T;
- 
 
 191 
    // stereoRectify segfaults unless R is double precision
- 
 
 192 
    cv::Mat(calibration.R1).convertTo(R, CV_64F);
- 
 
 193 
    cv::Mat(calibration.T1).convertTo(T, CV_64F);
176 
    cv::Mat R0, R1, P0, P1, Q;
 194 
    cv::Mat R0, R1, P0, P1, QRect;
177 
    cv::stereoRectify(calibration.K0, calibration.k0, calibration.K1, calibration.k1, frameSize, calibration.R1, calibration.T1, R0, R1, P0, P1, Q);
 195 
    cv::stereoRectify(calibration.K0, calibration.k0, calibration.K1, calibration.k1, frameSize, R, T, R0, R1, P0, P1, QRect, 0);
178 
 
 196 
 
179 
    // interpolation maps
 197 
    // interpolation maps
180 
    cv::Mat map0X, map0Y, map1X, map1Y;
 198 
    cv::Mat map0X, map0Y, map1X, map1Y;
181 
    cv::initUndistortRectifyMap(P0, calibration.k0, R0, cv::Mat(), frameSize, CV_32FC1, map0X, map0Y);
 199 
    cv::initUndistortRectifyMap(calibration.K0, calibration.k0, R0, P0, frameSize, CV_32F, map0X, map0Y);
182 
    cv::initUndistortRectifyMap(P1, calibration.k1, R1, cv::Mat(), frameSize, CV_32FC1, map1X, map1Y);
 200 
    cv::initUndistortRectifyMap(calibration.K1, calibration.k1, R1, P1, frameSize, CV_32F, map1X, map1Y);
183 
 
 201 
 
184 
    // remap
 202 
    // remap
- 
 
 203 
    cv::Mat code0Rect, code1Rect, color0Rect, color1Rect;
185 
    cv::remap(occlusion0, occlusion0, map0X, map0Y, cv::INTER_CUBIC);
 204 
    cv::remap(code0, code0Rect, map0X, map0Y, cv::INTER_NEAREST);
186 
    cv::remap(occlusion1, occlusion1, map1X, map1Y, cv::INTER_CUBIC);
 205 
    cv::remap(code1, code1Rect, map1X, map1Y, cv::INTER_NEAREST);
187 
    cv::remap(code0, code0, map1X, map1Y, cv::INTER_CUBIC);
 206 
    cv::remap(frames0[0], color0Rect, map0X, map0Y, cv::INTER_CUBIC);
188 
    cv::remap(code1, code1, map1X, map1Y, cv::INTER_CUBIC);
 207 
    cv::remap(frames1[0], color1Rect, map1X, map1Y, cv::INTER_CUBIC);
- 
 
 208 
 
- 
 
 209 
cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");
- 
 
 210 
cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");
189 
 
 211 
 
- 
 
 212 
//cvtools::writeMat(color0Rect, "color0.mat", "color0");
- 
 
 213 
//cvtools::writeMat(color1Rect, "color1.mat", "color1");
- 
 
 214 
 
190 
    int nRows = occlusion0.rows;
 215 
    int nRows = code0Rect.rows;
191 
    int nCols = occlusion0.cols;
 216 
    int nCols = code0Rect.cols;
192 
 
 217 
 
193 
    // matching
 218 
    // matching
- 
 
 219 
    std::vector<cv::Vec2f> q0Rect, q1Rect;
194 
    for(int row=0; row<nRows; row++){
 220 
    for(int row=0; row<nRows; row++){
195 
 
 221 
 
196 
        std::vector<cv::Vec4f> edges0, edges1;
 222 
        std::vector<cv::Vec4f> edges0, edges1;
197 
 
 223 
 
198 
        getEdgeLabels(code0.row(row), Nbits, edges0);
 224 
        getEdgeLabels(code0Rect.row(row), Nbits, edges0);
199 
        getEdgeLabels(code1.row(row), Nbits, edges1);
 225 
        getEdgeLabels(code1Rect.row(row), Nbits, edges1);
200 
 
 - 
 
201 
        // REMOVE DOUBLE ENTRIES!
 - 
 
202 
 
 226 
 
203 
        int i=0, j=0;
 227 
        int i=0, j=0;
204 
        while(i<edges0.size() && j<edges1.size()){
 228 
        while(i<edges0.size() && j<edges1.size()){
205 
 
 229 
 
206 
            if(edges0[i][3] == edges1[j][3]){
 230 
            if(edges0[i][3] == edges1[j][3]){
207 
                q0.push_back(cv::Point2f(row, edges0[i][0]));
 231 
                q0Rect.push_back(cv::Vec2f(edges0[i][0], row));
208 
                q1.push_back(cv::Point2f(row, edges1[j][0]));
 232 
                q1Rect.push_back(cv::Vec2f(edges1[j][0], row));
209 
                i += 1;
 233 
                i += 1;
210 
                j += 1;
 234 
                j += 1;
211 
            } else if(edges0[i][3] < edges1[i][3]){
 235 
            } else if(edges0[i][3] < edges1[j][3]){
212 
                i += 1;
 236 
                i += 1;
213 
            } else if(edges0[i][3] > edges1[i][3]){
 237 
            } else if(edges0[i][3] > edges1[j][3]){
214 
                j += 1;
 238 
                j += 1;
215 
            }
 239 
            }
216 
        }
 240 
        }
217 
 
 241 
 
218 
 
 242 
 
219 
    }
 243 
    }
220 
 
 244 
 
221 
    // retrieve color information
 245 
    // retrieve color information
222 
    int nMatches = q0.size();
 246 
    int nMatches = q0Rect.size();
223 
    color.resize(nMatches);
 247 
    color.resize(nMatches);
224 
    for(int i=0; i<nMatches; i++){
 248 
    for(int i=0; i<nMatches; i++){
225 
 
 249 
 
226 
        cv::Vec3f color0 = frames0[0].at<cv::Vec3f>(q0[i].y, q0[i].x);
 250 
        cv::Vec3b c0 = color0Rect.at<cv::Vec3b>(q0Rect[i][1], q0Rect[i][0]);
227 
        cv::Vec3f color1 = frames1[0].at<cv::Vec3f>(q1[i].y, q1[i].x);
 251 
        cv::Vec3b c1 = color1Rect.at<cv::Vec3b>(q1Rect[i][1], q1Rect[i][0]);
228 
 
 252 
 
229 
        color[i] = 0.5*(color0 + color1);
 253 
        color[i] = 0.5*(c0 + c1);
230 
    }
 254 
    }
231 
 
 255 
 
- 
 
 256 
    // triangulate points
- 
 
 257 
    cv::Mat QMatHomogenous, QMat;
- 
 
 258 
    cv::triangulatePoints(P0, P1, q0Rect, q1Rect, QMatHomogenous);
- 
 
 259 
    cvtools::convertMatFromHomogeneous(QMatHomogenous, QMat);
- 
 
 260 
    cvtools::matToPoints3f(QMat, Q);
232 
}
 261 
}