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#include "AlgorithmLineShift.h"
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#include "AlgorithmLineShift.h"
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#include <cmath>
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#include <cmath>
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#include "cvtools.h"
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#include "cvtools.h"
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#include <opencv2/imgproc.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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#ifndef log2f
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#ifndef log2f
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#define log2f(x) (log(x)/log(2.0))
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#define log2f(x) (log(x)/log(2.0))
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#endif
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#endif
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        patterns.push_back(patternInv);
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        patterns.push_back(patternInv);
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    }
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    }
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    // line shifts
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    // line shifts
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    for(unsigned int p=0; p<nLineShifts; p++){
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    for(unsigned int p=0; p<nLineShifts; p++){
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        cv::Mat pattern(1, screenCols, CV_8UC3, cv::Vec3b(0, 0, 0));
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        cv::Mat pattern(1, screenCols, CV_8UC3, cv::Scalar(0));
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        for(unsigned int j=p; j<screenCols; j+= nLineShifts)
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        for(unsigned int j=p; j<screenCols; j+= nLineShifts)
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            pattern.at<cv::Vec3b>(0, j) = cv::Vec3b(255, 255, 255);
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            pattern.at<cv::Vec3b>(0, j) = cv::Vec3b(255, 255, 255);
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        patterns.push_back(pattern);
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        patterns.push_back(pattern);
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                           + (img.at<cv::Vec3b>(y1, x0)[2] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[2] * a) * c);
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                           + (img.at<cv::Vec3b>(y1, x0)[2] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[2] * a) * c);
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    return cv::Vec3b(b, g, r);
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    return cv::Vec3b(b, g, r);
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}
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}
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void getlineCenters(const cv::Mat& linesScanLine, const cv::Mat& codeScanLine, std::vector<cv::Vec4i>& lineCenters){
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void getlineCenters(const cv::Mat& linesScanLine, const cv::Mat& codeScanLine, std::vector<cv::Vec2f>& lineCenters){
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    int nCols = linesScanLine.cols;
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    int nCols = linesScanLine.cols;
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    // fourth order derivative filtering
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    // fourth order derivative filtering
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    cv::Mat der(1, nCols, CV_8U);
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    cv::Mat der(1, nCols, CV_8U);
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    for(int i=0; i<nCols; i++){
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    for(int i=0; i<nCols; i++){
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        if(der.at<unsigned char>(0, i) > 0 && der.at<unsigned char>(0, i+1) < 0){
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        if(der.at<unsigned char>(0, i) > 0 && der.at<unsigned char>(0, i+1) < 0){
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            lineCenters.push_back(i, codeScanLine.at<unsigned char>(0, i));
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            lineCenters.push_back(cv::Vec2f(i, codeScanLine.at<unsigned char>(0, i)));
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            // TODO: subpixel interpolation, non-max suppression
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            // TODO: subpixel interpolation, non-max suppression
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        }
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        }
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    }
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    }
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    for(int i=0; i<nGrayBits; i++){
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    for(int i=0; i<nGrayBits; i++){
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        cv::Mat temp, bit0, bit1;
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        cv::Mat temp, bit0, bit1;
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        cv::compare(frames0GrayCode[i*2], frames0GrayCode[i*2+1], temp, cv::CMP_GT);
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        cv::compare(frames0GrayCode[i*2], frames0GrayCode[i*2+1], temp, cv::CMP_GT);
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        temp.convertTo(bit0, CV_32S, 1.0/255.0);
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        temp.convertTo(bit0, CV_32S, 1.0/255.0);
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        cv::add(code0Gray, bit0*twopowi(Nbits-i-1), code0Gray, cv::noArray(), CV_32S);
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        cv::add(code0Gray, bit0*twopowi(nGrayBits-i-1), code0Gray, cv::noArray(), CV_32S);
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        cv::compare(frames1GrayCode[i*2], frames1GrayCode[i*2+1], temp, cv::CMP_GT);
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        cv::compare(frames1GrayCode[i*2], frames1GrayCode[i*2+1], temp, cv::CMP_GT);
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        temp.convertTo(bit1, CV_32S, 1.0/255.0);
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        temp.convertTo(bit1, CV_32S, 1.0/255.0);
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        cv::add(code1Gray, bit1*twopowi(Nbits-i-1), code1Gray, cv::noArray(), CV_32S);
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        cv::add(code1Gray, bit1*twopowi(nGrayBits-i-1), code1Gray, cv::noArray(), CV_32S);
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    }
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    }
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    // set occluded pixels to -1
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    // set occluded pixels to -1
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    for(int r=0; r<frameRectRows; r++){
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    for(int r=0; r<frameRectRows; r++){
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        for(int c=0; c<frameRectCols; c++){
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        for(int c=0; c<frameRectCols; c++){