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

 #define log2f(x) (log(x)/log(2.0))
 #endif
 //using namespace std;
+namespace ggmax {
 /*
  * The purpose of this function is to convert an unsigned
  * binary number to reflected binary Gray code.
+ *
  * The operator >> is shift right. The operator ^ is exclusive or.
 static inline unsigned int twopowi(unsigned int exponent){
     return 1 << exponent;
+}
+bool sortingLarger(cv::Vec4i i,cv::Vec4i j){ return (i[3]<j[3]);}
+bool sortingEqual(cv::Vec4i i,cv::Vec4i j){ return (i[3]==j[3]);}
+void getEdgeLabels(const cv::Mat& scanLine, int Nbits, std::vector<cv::Vec4i>& edges){
+    int nCols = scanLine.cols;
+    const int *data = scanLine.ptr<const int>(0);
+    int labelLeft;
+    int labelRight = data[0];
+    // collect edges
+    for(int col=1; col<nCols; col++){
+        labelLeft = labelRight;
+        labelRight = data[col];
+        // labels need to be non-background, and differ in exactly one bit
+        if(labelLeft != -1 && labelRight != -1 && (ggmax::grayToBinary(labelRight) == ggmax::grayToBinary(labelLeft)+1)){
+            int orderingRelation = (labelLeft << Nbits) + labelRight;
+            // store left label column
+            edges.push_back(cv::Vec4i(col-1, labelLeft, labelRight, orderingRelation));
+        }
+    }
+    // sort
+    std::sort(edges.begin(), edges.end(), sortingLarger);
+    // remove duplicates
+    std::vector<cv::Vec4i>::iterator it;
+    it = std::unique(edges.begin(), edges.end(), sortingEqual);
+    edges.resize(std::distance(edges.begin(),it));
+}
+} // End ggmax namespace
 // Algorithm
 AlgorithmGrayCodeMax::AlgorithmGrayCodeMax(unsigned int _screenCols, unsigned int _screenRows) : Algorithm(_screenCols, _screenRows){
     Nbits = ceilf(log2f((float)screenCols)) - 1;
     N = 2 + Nbits*2;
         cv::Mat pattern(1, screenCols, CV_8UC3);
         cv::Mat patternInv(1, screenCols, CV_8UC3);
         for(unsigned int j=0; j<screenCols; j++){
-            unsigned int jGray = binaryToGray(j);
+            unsigned int jGray = ggmax::binaryToGray(j);
             // Amplitude of channels
-            int bit = (int)getBit(jGray, Nbits-p+1);
+            int bit = (int)ggmax::getBit(jGray, Nbits-p+1);
             pattern.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0*bit,255.0*bit,255.0*bit);
             int invBit = bit^1;
             patternInv.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0*invBit,255.0*invBit,255.0*invBit);
+        }
         patterns.push_back(pattern);
 cv::Mat AlgorithmGrayCodeMax::getEncodingPattern(unsigned int depth){
     return patterns[depth];
+}
-bool sortingLarger(cv::Vec4i i,cv::Vec4i j){ return (i[3]<j[3]);}
-bool sortingEqual(cv::Vec4i i,cv::Vec4i j){ return (i[3]==j[3]);}
-void getEdgeLabels(const cv::Mat& scanLine, int Nbits, std::vector<cv::Vec4i>& edges){
-    int nCols = scanLine.cols;
-    const int *data = scanLine.ptr<const int>(0);
-    int labelLeft;
-    int labelRight = data[0];
-    // collect edges
-    for(int col=1; col<nCols; col++){
-        labelLeft = labelRight;
-        labelRight = data[col];
-        // labels need to be non-background, and differ in exactly one bit
-        if(labelLeft != -1 && labelRight != -1 && (grayToBinary(labelRight) == grayToBinary(labelLeft)+1)){
-            int orderingRelation = (labelLeft << Nbits) + labelRight;
-            // store left label column
-            edges.push_back(cv::Vec4i(col-1, labelLeft, labelRight, orderingRelation));
-        }
-    }
-    // sort
-    std::sort(edges.begin(), edges.end(), sortingLarger);
-    // remove duplicates
-    std::vector<cv::Vec4i>::iterator it;
-    it = std::unique(edges.begin(), edges.end(), sortingEqual);
-    edges.resize(std::distance(edges.begin(),it));
-}
 static cv::Vec3b getColorSubpix(const cv::Mat& img, cv::Point2f pt){
     assert(!img.empty());
     assert(img.channels() == 3);
     int x = (int)pt.x;
     cv::initUndistortRectifyMap(calibration.K1, calibration.k1, R1, P1, frameSize, CV_32F, map1X, map1Y);
     // gray-scale and remap (Rasmus has adjusted here)
     std::vector<cv::Mat> frames0Rect(N);
     std::vector<cv::Mat> frames1Rect(N);
-    for(int i=0; i<N; i++){
+    for(size_t i=0; i<N; i++){
+        cv::Mat temp;
         cv::Mat temp_col;
         cv::cvtColor(frames0[i], temp_col, CV_BayerBG2RGB);
 		std::vector<cv::Mat> channels(3);
-		cv::split(temp_col, planes);
+        cv::split(temp_col, channels);
-		cv::Mat temp = cv::max(planes[2], cv::max(planes[1], planes[0]))); // Calculate max of the three channels
+        temp = cv::max(channels[2], cv::max(channels[1], channels[0])); // Calculate max of the three channels
         cv::remap(temp, frames0Rect[i], map0X, map0Y, CV_INTER_LINEAR);
         cv::cvtColor(frames1[i], temp_col, CV_BayerBG2RGB);
+        channels.clear();
-		cv::split(temp_col, planes);
+        cv::split(temp_col, channels);
-		cv::Mat temp = cv::max(planes[2], cv::max(planes[1], planes[0])));
+        temp = cv::max(channels[2], cv::max(channels[1], channels[0]));
         cv::remap(temp, frames1Rect[i], map1X, map1Y, CV_INTER_LINEAR);
+    }
 //    cvtools::writeMat(frames0Rect[0], "frames0Rect_0.mat", "frames0Rect_0");
     for(int i=0; i<Nbits; i++){
         cv::Mat temp, bit0, bit1;
         cv::compare(frames0Rect[i*2+2], frames0Rect[i*2+3], temp, cv::CMP_GT);
         temp.convertTo(bit0, CV_32S, 1.0/255.0);
-        cv::add(code0Rect, bit0*twopowi(Nbits-i-1), code0Rect, cv::noArray(), CV_32S);
+        cv::add(code0Rect, bit0*ggmax::twopowi(Nbits-i-1), code0Rect, cv::noArray(), CV_32S);
         cv::compare(frames1Rect[i*2+2], frames1Rect[i*2+3], temp, cv::CMP_GT);
         temp.convertTo(bit1, CV_32S, 1.0/255.0);
-        cv::add(code1Rect, bit1*twopowi(Nbits-i-1), code1Rect, cv::noArray(), CV_32S);
+        cv::add(code1Rect, bit1*ggmax::twopowi(Nbits-i-1), code1Rect, cv::noArray(), CV_32S);
+    }
 //cvtools::writeMat(code0Rect, "code0Rect.mat", "code0Rect");
 //cvtools::writeMat(code1Rect, "code1Rect.mat", "code1Rect");
         // edge data structure containing [floor(column), labelLeft, labelRight, orderingRelation]
         std::vector<cv::Vec4i> edges0, edges1;
         // sorted, unique edges
-        getEdgeLabels(code0Rect.row(row), Nbits, edges0);
+        ggmax::getEdgeLabels(code0Rect.row(row), Nbits, edges0);
-        getEdgeLabels(code1Rect.row(row), Nbits, edges1);
+        ggmax::getEdgeLabels(code1Rect.row(row), Nbits, edges1);
         // match edges
         std::vector<cv::Vec4i> matchedEdges0, matchedEdges1;
         int i=0, j=0;
         while(i<edges0.size() && j<edges1.size()){
         // crude subpixel refinement
         // finds the intersection of linear interpolants in the positive/negative pattern
         for(int i=0; i<matchedEdges0.size(); i++){
-            int level = Nbits - leastSignificantBitSet(matchedEdges0[i][1]^matchedEdges0[i][2]);
+            int level = Nbits - ggmax::leastSignificantBitSet(matchedEdges0[i][1]^matchedEdges0[i][2]);
             // refine for camera 0
             float c0 = matchedEdges0[i][0];
             float c1 = c0+1;

Subversion Repositories seema-scanner

(root)/src/algorithm/AlgorithmGrayCodeMax.cpp – Rev 161 → 163