Subversion Repositories seema-scanner

Rev

Rev 120 | Rev 122 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 120 Rev 121
Line 237... Line 237...
237 
        // interpolate horizontal coordinate
 237 
        // interpolate horizontal coordinate
238 
        float row = matches[i].row;
 238 
        float row = matches[i].row;
239 
        float col = matches[i].col;
 239 
        float col = matches[i].col;
240 
        float colRight = col+1;
 240 
        float colRight = col+1;
241 
 
 241 
 
242 
        float posHorz = frames[2*levelHorz+2].at<unsigned short>(row, col);
 242 
        float posHorz = frames[2*levelHorz+2].at<unsigned char>(row, col);
243 
        float negHorz = frames[2*levelHorz+3].at<unsigned short>(row, col);
 243 
        float negHorz = frames[2*levelHorz+3].at<unsigned char>(row, col);
244 
        float posHorzRight = frames[2*levelHorz+2].at<unsigned short>(row, colRight);
 244 
        float posHorzRight = frames[2*levelHorz+2].at<unsigned char>(row, colRight);
245 
        float negHorzRight = frames[2*levelHorz+3].at<unsigned short>(row, colRight);
 245 
        float negHorzRight = frames[2*levelHorz+3].at<unsigned char>(row, colRight);
246 
 
 246 
 
247 
        float x = col + (posHorz - negHorz)/(negHorzRight - negHorz - posHorzRight + posHorz);
 247 
        float x = col + (posHorz - negHorz)/(negHorzRight - negHorz - posHorzRight + posHorz);
248 
 
 248 
 
249 
        // interpolate vertical coordinate
 249 
        // interpolate vertical coordinate
250 
        float rowBelow = row+1;
 250 
        float rowBelow = row+1;
251 
 
 251 
 
252 
        float posVert = frames[2*NbitsHorz+2*levelVert+2].at<unsigned short>(row, col);
 252 
        float posVert = frames[2*NbitsHorz+2*levelVert+2].at<unsigned char>(row, col);
253 
        float negVert = frames[2*NbitsHorz+2*levelVert+3].at<unsigned short>(row, col);
 253 
        float negVert = frames[2*NbitsHorz+2*levelVert+3].at<unsigned char>(row, col);
254 
        float posVertBelow = frames[2*NbitsHorz+2*levelVert+2].at<unsigned short>(rowBelow, col);
 254 
        float posVertBelow = frames[2*NbitsHorz+2*levelVert+2].at<unsigned char>(rowBelow, col);
255 
        float negVertBelow = frames[2*NbitsHorz+2*levelVert+3].at<unsigned short>(rowBelow, col);
 255 
        float negVertBelow = frames[2*NbitsHorz+2*levelVert+3].at<unsigned char>(rowBelow, col);
256 
 
 256 
 
257 
        float y = row + (posVert - negVert)/(negVertBelow - negVert - posVertBelow + posVert);
 257 
        float y = row + (posVert - negVert)/(negVertBelow - negVert - posVertBelow + posVert);
258 
 
 258 
 
259 
        // write into return vector
 259 
        // write into return vector
260 
        q[i] = cv::Point2f(x, y);
 260 
        q[i] = cv::Point2f(x, y);
Line 303... Line 303...
303 
        cv::cvtColor(frames1[i], frames1Gray[i], CV_BayerBG2GRAY);
 303 
        cv::cvtColor(frames1[i], frames1Gray[i], CV_BayerBG2GRAY);
304 
    }
 304 
    }
305 
 
 305 
 
306 
    // colors
 306 
    // colors
307 
    cv::Mat color0;
 307 
    cv::Mat color0;
308 
    frames0[0].convertTo(color0, CV_8UC3, 1.0/256.0);
 308 
//    frames0[0].convertTo(color0, CV_8UC3, 1.0/256.0);
309 
    cv::cvtColor(color0, color0, CV_BayerBG2RGB);
 309 
    cv::cvtColor(frames0[0], color0, CV_BayerBG2RGB);
310 
    cv::Mat color1;
 310 
    cv::Mat color1;
311 
    frames1[0].convertTo(color1, CV_8UC3, 1.0/256.0);
 311 
//    frames1[0].convertTo(color1, CV_8UC3, 1.0/256.0);
312 
    cv::cvtColor(color1, color1, CV_BayerBG2RGB);
 312 
    cv::cvtColor(frames1[0], color1, CV_BayerBG2RGB);
313 
 
 313 
 
314 
    // occlusion masks
 314 
    // occlusion masks
315 
    cv::Mat occlusion0, occlusion1;
 315 
    cv::Mat occlusion0, occlusion1;
316 
    cv::subtract(frames0[0], frames0[1], occlusion0);
 316 
    cv::subtract(frames0[0], frames0[1], occlusion0);
317 
    occlusion0 = (occlusion0 > 6400) & (occlusion0 < 60000);
 317 
    occlusion0 = (occlusion0 > 20) & (occlusion0 < 250);
318 
    cv::subtract(frames1[0], frames1[1], occlusion1);
 318 
    cv::subtract(frames1[0], frames1[1], occlusion1);
319 
    occlusion1 = (occlusion1 > 6400) & (occlusion1 < 60000);
 319 
    occlusion1 = (occlusion1 > 20) & (occlusion1 < 250);
320 
 
 320 
 
321 
    // erode occlusion masks
 321 
    // erode occlusion masks
322 
    cv::Mat strel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(3,3));
 322 
    cv::Mat strel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(3,3));
323 
    cv::erode(occlusion0, occlusion0, strel);
 323 
    cv::erode(occlusion0, occlusion0, strel);
324 
    cv::erode(occlusion1, occlusion1, strel);
 324 
    cv::erode(occlusion1, occlusion1, strel);