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

 static bool getBit(int decimal, int N){
     return decimal & 1 << (N-1);
+}
-/*
+///*
- * Return the number of bits set in an integer
+// * Return the number of bits set in an integer
- */
+// */
-static int countBits(int n) {
+//static int countBits(int n) {
-  unsigned int c; // c accumulates the total bits set in v
+//  unsigned int c; // c accumulates the total bits set in v
-  for (c = 0; n>0; c++)
+//  for (c = 0; n>0; c++)
-    n &= n - 1; // clear the least significant bit set
+//    n &= n - 1; // clear the least significant bit set
-  return c;
+//  return c;
-}
+//}
 /*
  * Return the position of the least significant bit that is set
  */
 static int leastSignificantBitSet(int x){
         q[i] = cv::Point2f(x, y);
+    }
+}
-static cv::Vec3b getColorSubpix(const cv::Mat& img, cv::Point2f pt){
+//static cv::Vec3b getColorSubpix(const cv::Mat& img, cv::Point2f pt){
-    assert(!img.empty());
+//    assert(!img.empty());
-    assert(img.channels() == 3);
+//    assert(img.channels() == 3);
-    int x = (int)pt.x;
+//    int x = (int)pt.x;
-    int y = (int)pt.y;
+//    int y = (int)pt.y;
-    int x0 = cv::borderInterpolate(x,   img.cols, cv::BORDER_REFLECT_101);
+//    int x0 = cv::borderInterpolate(x,   img.cols, cv::BORDER_REFLECT_101);
-    int x1 = cv::borderInterpolate(x+1, img.cols, cv::BORDER_REFLECT_101);
+//    int x1 = cv::borderInterpolate(x+1, img.cols, cv::BORDER_REFLECT_101);
-    int y0 = cv::borderInterpolate(y,   img.rows, cv::BORDER_REFLECT_101);
+//    int y0 = cv::borderInterpolate(y,   img.rows, cv::BORDER_REFLECT_101);
-    int y1 = cv::borderInterpolate(y+1, img.rows, cv::BORDER_REFLECT_101);
+//    int y1 = cv::borderInterpolate(y+1, img.rows, cv::BORDER_REFLECT_101);
-    float a = pt.x - (float)x;
+//    float a = pt.x - (float)x;
-    float c = pt.y - (float)y;
+//    float c = pt.y - (float)y;
-    uchar b = (uchar)cvRound((img.at<cv::Vec3b>(y0, x0)[0] * (1.f - a) + img.at<cv::Vec3b>(y0, x1)[0] * a) * (1.f - c)
+//    uchar b = (uchar)cvRound((img.at<cv::Vec3b>(y0, x0)[0] * (1.f - a) + img.at<cv::Vec3b>(y0, x1)[0] * a) * (1.f - c)
-                           + (img.at<cv::Vec3b>(y1, x0)[0] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[0] * a) * c);
+//                           + (img.at<cv::Vec3b>(y1, x0)[0] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[0] * a) * c);
-    uchar g = (uchar)cvRound((img.at<cv::Vec3b>(y0, x0)[1] * (1.f - a) + img.at<cv::Vec3b>(y0, x1)[1] * a) * (1.f - c)
+//    uchar g = (uchar)cvRound((img.at<cv::Vec3b>(y0, x0)[1] * (1.f - a) + img.at<cv::Vec3b>(y0, x1)[1] * a) * (1.f - c)
-                           + (img.at<cv::Vec3b>(y1, x0)[1] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[1] * a) * c);
+//                           + (img.at<cv::Vec3b>(y1, x0)[1] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[1] * a) * c);
-    uchar r = (uchar)cvRound((img.at<cv::Vec3b>(y0, x0)[2] * (1.f - a) + img.at<cv::Vec3b>(y0, x1)[2] * a) * (1.f - c)
+//    uchar r = (uchar)cvRound((img.at<cv::Vec3b>(y0, x0)[2] * (1.f - a) + img.at<cv::Vec3b>(y0, x1)[2] * a) * (1.f - c)
-                           + (img.at<cv::Vec3b>(y1, x0)[2] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[2] * a) * c);
+//                           + (img.at<cv::Vec3b>(y1, x0)[2] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[2] * a) * c);
-    return cv::Vec3b(b, g, r);
+//    return cv::Vec3b(b, g, r);
-}
+//}
 void AlgorithmGrayCodeHorzVert::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){
     assert(frames0.size() == N);
     assert(frames1.size() == N);
     int frameCols = frames0[0].cols;
     // gray-scale
     std::vector<cv::Mat> frames0Gray(N);
     std::vector<cv::Mat> frames1Gray(N);
-    for(int i=0; i<N; i++){
+    for(unsigned int i=0; i<N; i++){
         cv::cvtColor(frames0[i], frames0Gray[i], CV_BayerBG2GRAY);
         cv::cvtColor(frames1[i], frames1Gray[i], CV_BayerBG2GRAY);
+    }
     // colors
     cv::Mat code1Horz(frameRows, frameCols, CV_32S, cv::Scalar(0));
     cv::Mat code0Vert(frameRows, frameCols, CV_32S, cv::Scalar(0));
     cv::Mat code1Vert(frameRows, frameCols, CV_32S, cv::Scalar(0));
     // horizontal codes into gray code
-    for(int i=0; i<NbitsHorz; i++){
+    for(unsigned int i=0; i<NbitsHorz; i++){
         cv::Mat bit0;
         cv::compare(frames0Gray[i*2+2], frames0Gray[i*2+3], bit0, cv::CMP_GT);
         bit0.convertTo(bit0, CV_32S, 1.0/255.0);
         cv::add(code0Horz, bit0*twopowi(NbitsHorz-i-1), code0Horz, cv::Mat(), CV_32S);
         bit1.convertTo(bit1, CV_32S, 1.0/255.0);
         cv::add(code1Horz, bit1*twopowi(NbitsHorz-i-1), code1Horz, cv::Mat(), CV_32S);
+    }
     // vertical codes into gray code
-    for(int i=0; i<NbitsVert; i++){
+    for(unsigned int i=0; i<NbitsVert; i++){
         cv::Mat bit0;
         cv::compare(frames0Gray[i*2+2*NbitsHorz+2], frames0Gray[i*2+2*NbitsHorz+3], bit0, cv::CMP_GT);
         bit0.convertTo(bit0, CV_32S, 1.0/255.0);
         cv::add(code0Vert, bit0*twopowi(NbitsVert-i-1), code0Vert, cv::Mat(), CV_32S);
     getIntersectionLabels(code0Horz, code0Vert, NbitsHorz, NbitsVert, intersections0);
     getIntersectionLabels(code1Horz, code1Vert, NbitsHorz, NbitsVert, intersections1);
     // match intersections
     std::vector<intersection> matches0, matches1;
-    int i=0, j=0;
+    unsigned int i=0, j=0;
     while(i<intersections0.size() && j<intersections1.size()){
         if(intersections0[i].id == intersections1[j].id){
             matches0.push_back(intersections0[i]);
             matches1.push_back(intersections1[j]);

Subversion Repositories seema-scanner

(root)/src/algorithm/AlgorithmGrayCodeHorzVert.cpp – Rev 122 → 167