| Line 228... |
Line 228... |
| 228 |
std::vector<cv::Mat> frames0Rect(N);
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228 |
std::vector<cv::Mat> frames0Rect(N);
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std::vector<cv::Mat> frames1Rect(N);
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std::vector<cv::Mat> frames1Rect(N);
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for(int i=0; i<N; i++){
|
230 |
for(int i=0; i<N; i++){
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| 231 |
cv::Mat temp;
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231 |
cv::Mat temp;
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| 232 |
cv::cvtColor(frames0[i], temp, CV_BayerBG2GRAY);
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cv::cvtColor(frames0[i], temp, CV_BayerBG2GRAY);
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cv::remap(temp, frames0Rect[i], map0X, map0Y, CV_INTER_LINEAR);
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cv::remap(temp, frames0Rect[i], map0X, map0Y, CV_INTER_CUBIC);
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cv::cvtColor(frames1[i], temp, CV_BayerBG2GRAY);
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cv::cvtColor(frames1[i], temp, CV_BayerBG2GRAY);
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cv::remap(temp, frames1Rect[i], map1X, map1Y, CV_INTER_LINEAR);
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cv::remap(temp, frames1Rect[i], map1X, map1Y, CV_INTER_CUBIC);
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}
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}
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| 237 |
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237 |
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//cvtools::writeMat(frames0Rect[0], "frames0Rect_0.mat", "frames0Rect_0");
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//cvtools::writeMat(frames0Rect[0], "frames0Rect_0.mat", "frames0Rect_0");
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//cvtools::writeMat(frames0Rect[1], "frames0Rect_1.mat", "frames0Rect_1");
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//cvtools::writeMat(frames0Rect[1], "frames0Rect_1.mat", "frames0Rect_1");
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//cvtools::writeMat(frames0Rect[20], "frames0Rect_20.mat", "frames0Rect_20");
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//cvtools::writeMat(frames0Rect[20], "frames0Rect_20.mat", "frames0Rect_20");
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//cvtools::writeMat(frames0Rect[21], "frames0Rect_21.mat", "frames0Rect_21");
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//cvtools::writeMat(frames0Rect[21], "frames0Rect_21.mat", "frames0Rect_21");
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242 |
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// color debayer and remap
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// color debayer and remap
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cv::Mat color0Rect, color1Rect;
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cv::Mat color0Rect, color1Rect;
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cv::cvtColor(frames0[0], color0Rect, CV_BayerBG2RGB);
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cv::cvtColor(frames0[0], color0Rect, CV_BayerBG2RGB);
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cv::remap(color0Rect, color0Rect, map0X, map0Y, CV_INTER_LINEAR);
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cv::remap(color0Rect, color0Rect, map0X, map0Y, CV_INTER_CUBIC);
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| 247 |
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247 |
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| 248 |
cv::cvtColor(frames1[0], color1Rect, CV_BayerBG2RGB);
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cv::cvtColor(frames1[0], color1Rect, CV_BayerBG2RGB);
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cv::remap(color1Rect, color1Rect, map1X, map1Y, CV_INTER_LINEAR);
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249 |
cv::remap(color1Rect, color1Rect, map1X, map1Y, CV_INTER_CUBIC);
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| 250 |
|
250 |
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| 251 |
int frameRectRows = frames0Rect[0].rows;
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int frameRectRows = frames0Rect[0].rows;
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| 252 |
int frameRectCols = frames0Rect[0].cols;
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252 |
int frameRectCols = frames0Rect[0].cols;
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| 253 |
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253 |
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| 254 |
// occlusion masks
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// occlusion masks
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Line 345... |
| 345 |
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345 |
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| 346 |
// sorted, unique line centers
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346 |
// sorted, unique line centers
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| 347 |
getlineCenters(lines0.row(row), code0Binary.row(row), lineCenters0);
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getlineCenters(lines0.row(row), code0Binary.row(row), lineCenters0);
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| 348 |
getlineCenters(lines1.row(row), code1Binary.row(row), lineCenters1);
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348 |
getlineCenters(lines1.row(row), code1Binary.row(row), lineCenters1);
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| 349 |
|
349 |
|
| 350 |
if(s==0 && row==1300){
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350 |
// if(s==0 && row==1300){
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| 351 |
std::cout << cv::Mat(lineCenters0) << std::endl;
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351 |
// std::cout << cv::Mat(lineCenters0) << std::endl;
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| 352 |
std::cout << cv::Mat(lineCenters1) << std::endl;
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352 |
// std::cout << cv::Mat(lineCenters1) << std::endl;
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| 353 |
|
353 |
|
| 354 |
cvtools::writeMat(lines0.row(row), "lines0.mat", "lines0");
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354 |
// 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(lines1.row(row), "lines1.mat", "lines1");
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| 356 |
cvtools::writeMat(code0Binary.row(row), "code0Binary.mat", "code0Binary");
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// cvtools::writeMat(code0Binary.row(row), "code0Binary.mat", "code0Binary");
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| 357 |
cvtools::writeMat(code1Binary.row(row), "code1Binary.mat", "code1Binary");
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// cvtools::writeMat(code1Binary.row(row), "code1Binary.mat", "code1Binary");
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}
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358 |
// }
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| 359 |
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359 |
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| 360 |
// match and store
|
360 |
// match and store
|
| 361 |
int i=0, j=0;
|
361 |
int i=0, j=0;
|
| 362 |
while(i<lineCenters0.size() && j<lineCenters1.size()){
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362 |
while(i<lineCenters0.size() && j<lineCenters1.size()){
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| 363 |
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363 |
|