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#include "algorithmtools.h"
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#include "algorithmtools.h"
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// Algorithm
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// Algorithm
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AlgorithmGrayCodeHorzVert::AlgorithmGrayCodeHorzVert(unsigned int _screenCols, unsigned int _screenRows) : Algorithm(_screenCols, _screenRows){
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AlgorithmGrayCodeHorzVert::AlgorithmGrayCodeHorzVert(unsigned int _screenCols, unsigned int _screenRows) : Algorithm(_screenCols, _screenRows){
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    NbitsHorz = ceilf(log2f((float)screenCols));
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    NbitsHorz = ceilf(log2f((float)screenCols)) - 1;
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    NbitsVert =  ceilf(log2f((float)screenRows));
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    NbitsVert =  ceilf(log2f((float)screenRows)) - 1;
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    N = 2 + (NbitsHorz+NbitsVert)*2;
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    N = 2 + (NbitsHorz+NbitsVert)*2;
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    // all on pattern
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    // all on pattern
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    cv::Mat allOn(1, screenCols, CV_8UC3, cv::Scalar::all(255));
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    cv::Mat allOn(1, screenCols, CV_8UC3, cv::Scalar::all(255));
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    patterns.push_back(allOn);
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    patterns.push_back(allOn);
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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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            unsigned int jGray = binaryToGray(j);
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            unsigned int jGray = binaryToGray(j);
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            // Amplitude of channels
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            // Amplitude of channels
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            int bit = (int)getBit(jGray, NbitsHorz-p);
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            int bit = (int)getBit(jGray, NbitsHorz-p+1);
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            pattern.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0*bit,255.0*bit,255.0*bit);
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            pattern.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0*bit,255.0*bit,255.0*bit);
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            int invBit = bit^1;
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            int invBit = bit^1;
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            patternInv.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0*invBit,255.0*invBit,255.0*invBit);
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            patternInv.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0*invBit,255.0*invBit,255.0*invBit);
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        }
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        }
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        patterns.push_back(pattern);
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        patterns.push_back(pattern);
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        for(unsigned int j=0; j<screenRows; j++){
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        for(unsigned int j=0; j<screenRows; j++){
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            unsigned int jGray = binaryToGray(j);
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            unsigned int jGray = binaryToGray(j);
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            // Amplitude of channels
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            // Amplitude of channels
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            int bit = (int)getBit(jGray, NbitsVert-p);
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            int bit = (int)getBit(jGray, NbitsVert-p+1);
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            pattern.at<cv::Vec3b>(j,0) = cv::Vec3b(255.0*bit,255.0*bit,255.0*bit);
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            pattern.at<cv::Vec3b>(j,0) = cv::Vec3b(255.0*bit,255.0*bit,255.0*bit);
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            int invBit = bit^1;
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            int invBit = bit^1;
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            patternInv.at<cv::Vec3b>(j,0) = cv::Vec3b(255.0*invBit,255.0*invBit,255.0*invBit);
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            patternInv.at<cv::Vec3b>(j,0) = cv::Vec3b(255.0*invBit,255.0*invBit,255.0*invBit);
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        }
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        }
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        patterns.push_back(pattern);
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        patterns.push_back(pattern);
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    cv::subtract(frames0[0], frames0[1], occlusion0);
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    cv::subtract(frames0[0], frames0[1], occlusion0);
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    occlusion0 = (occlusion0 > 20) & (occlusion0 < 250);
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    occlusion0 = (occlusion0 > 20) & (occlusion0 < 250);
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    cv::subtract(frames1[0], frames1[1], occlusion1);
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    cv::subtract(frames1[0], frames1[1], occlusion1);
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    occlusion1 = (occlusion1 > 20) & (occlusion1 < 250);
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    occlusion1 = (occlusion1 > 20) & (occlusion1 < 250);
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    // erode occlusion masks
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//    // erode occlusion masks
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    cv::Mat strel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(3,3));
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//    cv::Mat strel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(3,3));
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    cv::erode(occlusion0, occlusion0, strel);
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//    cv::erode(occlusion0, occlusion0, strel);
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    cv::erode(occlusion1, occlusion1, strel);
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//    cv::erode(occlusion1, occlusion1, strel);
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//cvtools::writeMat(occlusion0, "occlusion0.mat", "occlusion0");
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//cvtools::writeMat(occlusion0, "occlusion0.mat", "occlusion0");
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//cvtools::writeMat(occlusion1, "occlusion1.mat", "occlusion1");
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//cvtools::writeMat(occlusion1, "occlusion1.mat", "occlusion1");
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    // decode patterns
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    // decode patterns