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

     const short *data = scanLine.ptr<const short>(0);
     short labelLeft;
     short labelRight = data[0];
+    // collect edges
     for(int col=1; col<nCols; col++){
         labelLeft = labelRight;
         labelRight = data[col];
         if(labelLeft != -1 && labelRight != -1 && labelLeft != labelRight){
-            int orderingRelation = (2 << Nbits)*labelLeft + labelRight;
+            int orderingRelation = (labelLeft << Nbits) + labelRight;
-            edges.push_back(cv::Vec4f(col, labelLeft, labelRight, orderingRelation));
+            edges.push_back(cv::Vec4f(col-0.5, labelLeft, labelRight, orderingRelation));
+        }
+    }
     // sort
     std::sort(edges.begin(), edges.end(), sortingLarger);
     assert(frames1.size() == N);
     int frameRows = frames0[0].rows;
     int frameCols = frames0[0].cols;
-    // convert to gray-scale
-    std::vector<cv::Mat> frames0Gray(N);
-    std::vector<cv::Mat> frames1Gray(N);
-    for(int i=0; i<N; i++){
-        cv::cvtColor(frames0[i], frames0Gray[i], CV_RGB2GRAY);
-        cv::cvtColor(frames1[i], frames1Gray[i], CV_RGB2GRAY);
-    }
-    // occlusion maps
-    cv::Mat occlusion0, occlusion1;
-    cv::subtract(frames0Gray[0], frames0Gray[1], occlusion0);
-    occlusion0 = occlusion0 > 50;
-    cv::subtract(frames1Gray[0], frames1Gray[1], occlusion1);
-    occlusion1 = occlusion1 > 50;
-//    cvtools::writeMat(occlusion0, "occlusion0.mat", "occlusion0");
-//    cvtools::writeMat(occlusion1, "occlusion1.mat", "occlusion1");
-    // decoded patterns
-    cv::Mat code0(frameRows, frameCols, CV_16S, cv::Scalar(-1)), code1(frameRows, frameCols, CV_16S, cv::Scalar(-1));
-    cvtools::writeMat(code0, "code0.mat", "code0");
-    cvtools::writeMat(code1, "code1.mat", "code1");
-    for(int i=0; i<Nbits; i++){
-        cv::Mat bit0;
-        cv::subtract(frames0Gray[i*2+2], frames0Gray[i*2+3], bit0);
-        bit0 = bit0 > 50;
-//    cvtools::writeMat(bit0, "bit0.mat", "bit0");
-        cv::add(code0, bit0/255*powi(2,i), code0, occlusion0, CV_16S);
-//    cvtools::writeMat(code0, "code0.mat", "code0");
-        cv::Mat bit1;
-        cv::subtract(frames1Gray[i*2+2], frames1Gray[i*2+3], bit1);
-        bit1 = bit1 > 50;
-        cv::add(code1, bit1/255*powi(2,i), code1, occlusion1, CV_16S);
-    }
-    cvtools::writeMat(code0, "code0.mat", "code0");
-    cvtools::writeMat(code1, "code1.mat", "code1");
     // rectifying homographies (rotation+projections)
     cv::Size frameSize(frameCols, frameRows);
     cv::Mat R, T;
     // stereoRectify segfaults unless R is double precision
     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);
-    // remap
+    // gray-scale and remap
+    std::vector<cv::Mat> frames0Rect(N);
-    cv::Mat code0Rect, code1Rect, color0Rect, color1Rect;
+    std::vector<cv::Mat> frames1Rect(N);
+    for(int i=0; i<N; i++){
+        cv::Mat temp;
-    cv::remap(code0, code0Rect, map0X, map0Y, cv::INTER_NEAREST);
+        cv::cvtColor(frames0[i], temp, CV_RGB2GRAY);
-    cv::remap(code1, code1Rect, map1X, map1Y, cv::INTER_NEAREST);
+        cv::remap(temp, frames0Rect[i], map0X, map0Y, CV_INTER_LINEAR);
-    cv::remap(frames0[0], color0Rect, map0X, map0Y, cv::INTER_CUBIC);
+        cv::cvtColor(frames1[i], temp, CV_RGB2GRAY);
-    cv::remap(frames1[0], color1Rect, map1X, map1Y, cv::INTER_CUBIC);
+        cv::remap(temp, frames1Rect[i], map1X, map1Y, CV_INTER_LINEAR);
+    }
+    // color remaps
+    cv::Mat color0Rect, color1Rect;
-cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");
+    cv::remap(frames0[0], color0Rect, map0X, map0Y, CV_INTER_CUBIC);
-cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");
+    cv::remap(frames1[0], color1Rect, map0X, map0Y, CV_INTER_CUBIC);
-//cvtools::writeMat(color0Rect, "color0.mat", "color0");
+    int frameRectRows = frames0Rect[0].rows;
-//cvtools::writeMat(color1Rect, "color1.mat", "color1");
+    int frameRectCols = frames0Rect[0].cols;
+    // occlusion maps
+    cv::Mat occlusion0Rect, occlusion1Rect;
+    cv::subtract(frames0Rect[0], frames0Rect[1], occlusion0Rect);
-    int nRows = code0Rect.rows;
+    occlusion0Rect = occlusion0Rect > 50;
+    cv::subtract(frames1Rect[0], frames1Rect[1], occlusion1Rect);
+    occlusion1Rect = occlusion1Rect > 50;
+//cvtools::writeMat(occlusion0Rect, "occlusion0Rect.mat", "occlusion0Rect");
+//cvtools::writeMat(occlusion1Rect, "occlusion1Rect.mat", "occlusion1Rect");
-    int nCols = code0Rect.cols;
+    // decode patterns
+    cv::Mat code0Rect(frameRectRows, frameRectCols, CV_16S, cv::Scalar(-1));
+    cv::Mat code1Rect(frameRectRows, frameRectCols, CV_16S, cv::Scalar(-1));
+    cv::add(code0Rect, 1, code0Rect, occlusion0Rect, CV_16S);
+    cv::add(code1Rect, 1, code1Rect, occlusion1Rect, CV_16S);
+    for(int i=0; i<Nbits; i++){
+        cv::Mat bit0;
+        cv::subtract(frames0Rect[i*2+2], frames0Rect[i*2+3], bit0, cv::noArray(), CV_16S);
+        bit0 = bit0 > 0;
+//    cvtools::writeMat(bit0, "bit0.mat", "bit0");
+        cv::add(code0Rect, bit0/255*powi(2,i), code0Rect, occlusion0Rect, CV_16S);
+//    cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");
+        cv::Mat bit1;
+        cv::subtract(frames1Rect[i*2+2], frames1Rect[i*2+3], bit1, cv::noArray(), CV_16S);
+        bit1 = bit1 > 0;
+        cv::add(code1Rect, bit1/255*powi(2,i), code1Rect, occlusion1Rect, CV_16S);
+    }
+//cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");
+//cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");
     // matching
     std::vector<cv::Vec2f> q0Rect, q1Rect;
-    for(int row=0; row<nRows; row++){
+    for(int row=0; row<frameRectRows; row++){
         std::vector<cv::Vec4f> edges0, edges1;
+        // sorted, unique edges
         getEdgeLabels(code0Rect.row(row), Nbits, edges0);
         getEdgeLabels(code1Rect.row(row), Nbits, edges1);
+        // subpixel refinement
+        // ...
         int i=0, j=0;
         while(i<edges0.size() && j<edges1.size()){
             if(edges0[i][3] == edges1[j][3]){
                 q0Rect.push_back(cv::Vec2f(edges0[i][0], row));

Subversion Repositories seema-scanner

(root)/src/algorithm/AlgorithmGrayCode.cpp – Rev 42 → 43