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

         // interpolate horizontal coordinate
         float row = matches[i].row;
         float col = matches[i].col;
         float colRight = col+1;
-        float posHorz = frames[2*levelHorz+2].at<unsigned char>(row, col);
+        float posHorz = frames[2*levelHorz+2].at<float>(row, col);
-        float negHorz = frames[2*levelHorz+3].at<unsigned char>(row, col);
+        float negHorz = frames[2*levelHorz+3].at<float>(row, col);
-        float posHorzRight = frames[2*levelHorz+2].at<unsigned char>(row, colRight);
+        float posHorzRight = frames[2*levelHorz+2].at<float>(row, colRight);
-        float negHorzRight = frames[2*levelHorz+3].at<unsigned char>(row, colRight);
+        float negHorzRight = frames[2*levelHorz+3].at<float>(row, colRight);
         float x = col + (posHorz - negHorz)/(negHorzRight - negHorz - posHorzRight + posHorz);
         // interpolate vertical coordinate
         float rowBelow = row+1;
-        float posVert = frames[2*NbitsHorz+2*levelVert+2].at<unsigned char>(row, col);
+        float posVert = frames[2*NbitsHorz+2*levelVert+2].at<float>(row, col);
-        float negVert = frames[2*NbitsHorz+2*levelVert+3].at<unsigned char>(row, col);
+        float negVert = frames[2*NbitsHorz+2*levelVert+3].at<float>(row, col);
-        float posVertBelow = frames[2*NbitsHorz+2*levelVert+2].at<unsigned char>(rowBelow, col);
+        float posVertBelow = frames[2*NbitsHorz+2*levelVert+2].at<float>(rowBelow, col);
-        float negVertBelow = frames[2*NbitsHorz+2*levelVert+3].at<unsigned char>(rowBelow, col);
+        float negVertBelow = frames[2*NbitsHorz+2*levelVert+3].at<float>(rowBelow, col);
         float y = row + (posVert - negVert)/(negVertBelow - negVert - posVertBelow + posVert);
         // write into return vector
         q[i] = cv::Point2f(x, y);
+    }
+}
-void AlgorithmGrayCodeHorzVert::get3DPoints(const SMCalibrationParameters & calibration, const std::vector<cv::Mat>& frames0, const std::vector<cv::Mat>& frames1, std::vector<cv::Point3f>& Q, std::vector<cv::Vec3b>& color){
+void AlgorithmGrayCodeHorzVert::get3DPoints(const SMCalibrationParameters & calibration, const std::vector<cv::Mat>& frames0, const std::vector<cv::Mat>& frames1, std::vector<cv::Point3f>& Q, std::vector<cv::Vec3f>& color){
     assert(frames0.size() == N);
     assert(frames1.size() == N);
     int frameRows = frames0[0].rows;
     // gray-scale
     std::vector<cv::Mat> frames0Gray(N);
     std::vector<cv::Mat> frames1Gray(N);
     for(unsigned int i=0; i<N; i++){
-        cv::cvtColor(frames0[i], frames0Gray[i], CV_BayerBG2GRAY);
+        cv::cvtColor(frames0[i], frames0Gray[i], CV_RGB2GRAY);
-        cv::cvtColor(frames1[i], frames1Gray[i], CV_BayerBG2GRAY);
+        cv::cvtColor(frames1[i], frames1Gray[i], CV_RGB2GRAY);
+    }
     // colors
-    cv::Mat color0;
+    cv::Mat color0 = frames0[0];
-//    frames0[0].convertTo(color0, CV_8UC3, 1.0/256.0);
-    cv::cvtColor(frames0[0], color0, CV_BayerBG2RGB);
-    cv::Mat color1;
+    cv::Mat color1 = frames1[0];
-//    frames1[0].convertTo(color1, CV_8UC3, 1.0/256.0);
-    cv::cvtColor(frames1[0], color1, CV_BayerBG2RGB);
     // occlusion masks
     cv::Mat occlusion0, occlusion1;
-    cv::subtract(frames0[0], frames0[1], occlusion0);
+    cv::subtract(frames0Gray[0], frames0Gray[1], occlusion0);
-    occlusion0 = (occlusion0 > 20) & (occlusion0 < 250);
+    occlusion0 = (occlusion0 > 0.1) & (occlusion0 < 0.98);
+    //occlusion0.convertTo(occlusion0, CV_8UC1);
-    cv::subtract(frames1[0], frames1[1], occlusion1);
+    cv::subtract(frames1Gray[0], frames1Gray[1], occlusion1);
-    occlusion1 = (occlusion1 > 20) & (occlusion1 < 250);
+    occlusion1 = (occlusion1 > 0.1) & (occlusion1 < 0.98);
+    //occlusion1.convertTo(occlusion1, CV_8UC1);
 //    // erode occlusion masks
 //    cv::Mat strel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(3,3));
 //    cv::erode(occlusion0, occlusion0, strel);
 //    cv::erode(occlusion1, occlusion1, strel);
+        #ifdef QT_DEBUG
-//cvtools::writeMat(occlusion0, "occlusion0.mat", "occlusion0");
+            cvtools::writeMat(occlusion0, "occlusion0.mat", "occlusion0");
-//cvtools::writeMat(occlusion1, "occlusion1.mat", "occlusion1");
+            cvtools::writeMat(occlusion1, "occlusion1.mat", "occlusion1");
+        #endif
     // decode patterns
     cv::Mat code0Horz(frameRows, frameCols, CV_32S, cv::Scalar(0));
     cv::Mat code1Horz(frameRows, frameCols, CV_32S, cv::Scalar(0));
     cv::Mat code0Vert(frameRows, frameCols, CV_32S, cv::Scalar(0));
                 code1Vert.at<int>(r,c) = -1;
+            }
+        }
+    }
+    #ifdef QT_DEBUG
-//    cvtools::writeMat(code0Horz, "code0Horz.mat", "code0Horz");
+        cvtools::writeMat(code0Horz, "code0Horz.mat", "code0Horz");
-//    cvtools::writeMat(code1Horz, "code1Horz.mat", "code1Horz");
+        cvtools::writeMat(code1Horz, "code1Horz.mat", "code1Horz");
-//    cvtools::writeMat(code0Vert, "code0Vert.mat", "code0Vert");
+        cvtools::writeMat(code0Vert, "code0Vert.mat", "code0Vert");
-//    cvtools::writeMat(code1Vert, "code1Vert.mat", "code1Vert");
+        cvtools::writeMat(code1Vert, "code1Vert.mat", "code1Vert");
+    #endif
     // get intersections
     std::vector<intersection> intersections0, intersections1;
     getIntersectionLabels(code0Horz, code0Vert, NbitsHorz, NbitsVert, intersections0);
     getIntersectionLabels(code1Horz, code1Vert, NbitsHorz, NbitsVert, intersections1);
     getSubpixelCoordinates(matches1, frames1Gray, NbitsHorz, NbitsVert, q1);
     // retrieve color information (at subpixel coordinates)
     color.resize(nMatches);
     for(int i=0; i<nMatches; i++){
-        cv::Vec3b c0 = color0.at<cv::Vec3b>(std::floor(q0[i].y), std::floor(q0[i].x));
+        cv::Vec3f c0 = color0.at<cv::Vec3f>(std::floor(q0[i].y), std::floor(q0[i].x));
-        cv::Vec3b c1 = color1.at<cv::Vec3b>(std::floor(q1[i].y), std::floor(q1[i].x));
+        cv::Vec3f c1 = color1.at<cv::Vec3f>(std::floor(q1[i].y), std::floor(q1[i].x));
         color[i] = 0.5*c0 + 0.5*c1;
+    }
     //cv::correctMatches(calibration.F, q0, q1, q0, q1);

Subversion Repositories seema-scanner

(root)/src/algorithm/AlgorithmGrayCodeHorzVert.cpp – Rev 236 → 245