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Line 172... Line 172...
172 
//    cvtools::writeMat(codeScanLine, "codeScanLine.mat", "codeScanLine");
 172 
//    cvtools::writeMat(codeScanLine, "codeScanLine.mat", "codeScanLine");
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//    cvtools::writeMat(linesScanLine, "linesScanLine.mat", "linesScanLine");
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//    cvtools::writeMat(linesScanLine, "linesScanLine.mat", "linesScanLine");
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//    cvtools::writeMat(der, "der.mat", "der");
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//    cvtools::writeMat(der, "der.mat", "der");
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 175 
 
176 
    for(int i=0; i<nCols; i++){
 176 
    for(int i=0; i<nCols; i++){
- 
 
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        int code = codeScanLine.at<int>(0, i);
177 
 
 178 
 
178 
        if(der.at<float>(0, i) < 0.0 && der.at<unsigned char>(0, i+1) > 0.0){
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        if((code != -1) && (der.at<float>(0, i) < 0.0) && (der.at<float>(0, i+1) > 0.0) && ((der.at<float>(0, i+1) - der.at<float>(0, i)) > 20.0)){
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 180 
 
180 
            lineCenters.push_back(cv::Vec2f(i, codeScanLine.at<unsigned char>(0, i)));
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            lineCenters.push_back(cv::Vec2f(i, code));
181 
            // 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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            if(occlusion1Rect.at<unsigned char>(r,c) == 0)
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            if(occlusion1Rect.at<unsigned char>(r,c) == 0)
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                code1Binary.at<int>(r,c) = -1;
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                code1Binary.at<int>(r,c) = -1;
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        }
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        }
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    }
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    }
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cvtools::writeMat(code0Gray, "code0Gray.mat", "code0Gray");
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//cvtools::writeMat(code0Gray, "code0Gray.mat", "code0Gray");
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cvtools::writeMat(code1Gray, "code1Gray.mat", "code1Gray");
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//cvtools::writeMat(code1Gray, "code1Gray.mat", "code1Gray");
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cvtools::writeMat(code0Binary, "code0Binary.mat", "code0Binary");
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//cvtools::writeMat(code0Binary, "code0Binary.mat", "code0Binary");
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cvtools::writeMat(code1Binary, "code1Binary.mat", "code1Binary");
 316 
//cvtools::writeMat(code1Binary, "code1Binary.mat", "code1Binary");
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 - 
 
317 
    // TODO: iterate through all line frames
 - 
 
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    cv::Mat lines0 = frames0LineShift[0];
 - 
 
319 
    cv::Mat lines1 = frames1LineShift[0];
 - 
 
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321 
    // matching
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    // matching
322 
    std::vector<cv::Vec2f> q0Rect, q1Rect;
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    std::vector<cv::Vec2f> q0Rect, q1Rect;
- 
 
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    for(int s=0; s<nLineShifts; s++){
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        cv::Mat lines0 = frames0LineShift[s];
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        cv::Mat lines1 = frames1LineShift[s];
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 324 
 
323 
    for(int row=0; row<frameRectRows; row++){
 325 
        for(int row=0; row<frameRectRows; row++){
324 
 
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325 
        // line center data structure containing [x-coordinate (sub-px), region-code]
 327 
            // line center data structure containing [x-coordinate (sub-px), region-code]
326 
        std::vector<cv::Vec2f> lineCenters0, lineCenters1;
 328 
            std::vector<cv::Vec2f> lineCenters0, lineCenters1;
327 
 
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328 
        // sorted, unique line centers
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            // sorted, unique line centers
329 
        getlineCenters(lines0.row(row), code0Binary.row(row), lineCenters0);
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            getlineCenters(lines0.row(row), code0Binary.row(row), lineCenters0);
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        getlineCenters(lines1.row(row), code1Binary.row(row), lineCenters1);
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            getlineCenters(lines1.row(row), code1Binary.row(row), lineCenters1);
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- 
 
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//         if(s==0 && row==1300){
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//            std::cout << cv::Mat(lineCenters0) << std::endl;
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//            std::cout << cv::Mat(lineCenters1) << std::endl;
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- 
 
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//            cvtools::writeMat(lines0.row(row), "lines0.mat", "lines0");
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//            cvtools::writeMat(lines1.row(row), "lines1.mat", "lines1");
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//            cvtools::writeMat(code0Binary.row(row), "code0Binary.mat", "code0Binary");
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//            cvtools::writeMat(code1Binary.row(row), "code1Binary.mat", "code1Binary");
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 342 
//         }
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 343 
 
332 
        // match and store
 344 
            // match and store
333 
        int i=0, j=0;
 345 
            int i=0, j=0;
334 
        while(i<lineCenters0.size() && j<lineCenters1.size()){
 346 
            while(i<lineCenters0.size() && j<lineCenters1.size()){
335 
 
 347 
 
336 
            if(lineCenters0[i][1] == lineCenters1[j][1]){
 348 
                if(lineCenters0[i][1] == lineCenters1[j][1]){
337 
                q0Rect.push_back(cv::Point2f(lineCenters0[0][0], row));
 349 
                    q0Rect.push_back(cv::Point2f(lineCenters0[i][0], row));
338 
                q1Rect.push_back(cv::Point2f(lineCenters1[0][0], row));
 350 
                    q1Rect.push_back(cv::Point2f(lineCenters1[j][0], row));
339 
                i += 1;
 351 
                    i += 1;
340 
                j += 1;
 352 
                    j += 1;
341 
            } else if(lineCenters0[i][1] < lineCenters1[j][1]){
 353 
                } else if(lineCenters0[i][1] < lineCenters1[j][1]){
342 
                i += 1;
 354 
                    i += 1;
343 
            } else if(lineCenters0[i][1] > lineCenters1[j][1]){
 355 
                } else if(lineCenters0[i][1] > lineCenters1[j][1]){
344 
                j += 1;
 356 
                    j += 1;
345 
            }
 357 
                }
346 
        }
 358 
            }
347 
 
 359 
 
348 
    }
 360 
        }
- 
 
 361 
    }
349 
 
 362 
 
350 
    int nMatches = q0Rect.size();
 363 
    int nMatches = q0Rect.size();
351 
 
 364 
 
352 
    if(nMatches < 1){
 365 
    if(nMatches < 1){
353 
        Q.resize(0);
 366 
        Q.resize(0);