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

 static bool getBit(int decimal, int N){
     return decimal & 1 << (N-1);
+}
-/*
+///*
- * Return the number of bits set in an integer
+// * Return the number of bits set in an integer
- */
+// */
-static int countBits(int n) {
+//static int countBits(int n) {
-  unsigned int c; // c accumulates the total bits set in v
+//  unsigned int c; // c accumulates the total bits set in v
-  for (c = 0; n>0; c++)
+//  for (c = 0; n>0; c++)
-    n &= n - 1; // clear the least significant bit set
+//    n &= n - 1; // clear the least significant bit set
-  return c;
+//  return c;
-}
+//}
-/*
+///*
- * Return the position of the least significant bit that is set
+// * Return the position of the least significant bit that is set
- */
+// */
-static int leastSignificantBitSet(int x){
+//static int leastSignificantBitSet(int x){
-  if(x == 0)
+//  if(x == 0)
-      return 0;
+//      return 0;
-  int val = 1;
+//  int val = 1;
-  while(x>>=1)
+//  while(x>>=1)
-      val++;
+//      val++;
-  return val;
+//  return val;
-}
+//}
 static inline unsigned int powi(int num, unsigned int exponent){
     if(exponent == 0)
         return 1;
 cv::Mat AlgorithmLineShift::getEncodingPattern(unsigned int depth){
     return patterns[depth];
+}
-static cv::Vec3b getColorSubpix(const cv::Mat& img, cv::Point2f pt){
+//static cv::Vec3b getColorSubpix(const cv::Mat& img, cv::Point2f pt){
-    assert(!img.empty());
+//    assert(!img.empty());
-    assert(img.channels() == 3);
+//    assert(img.channels() == 3);
-    int x = (int)pt.x;
+//    int x = (int)pt.x;
-    int y = (int)pt.y;
+//    int y = (int)pt.y;
-    int x0 = cv::borderInterpolate(x,   img.cols, cv::BORDER_REFLECT_101);
+//    int x0 = cv::borderInterpolate(x,   img.cols, cv::BORDER_REFLECT_101);
-    int x1 = cv::borderInterpolate(x+1, img.cols, cv::BORDER_REFLECT_101);
+//    int x1 = cv::borderInterpolate(x+1, img.cols, cv::BORDER_REFLECT_101);
-    int y0 = cv::borderInterpolate(y,   img.rows, cv::BORDER_REFLECT_101);
+//    int y0 = cv::borderInterpolate(y,   img.rows, cv::BORDER_REFLECT_101);
-    int y1 = cv::borderInterpolate(y+1, img.rows, cv::BORDER_REFLECT_101);
+//    int y1 = cv::borderInterpolate(y+1, img.rows, cv::BORDER_REFLECT_101);
-    float a = pt.x - (float)x;
+//    float a = pt.x - (float)x;
-    float c = pt.y - (float)y;
+//    float c = pt.y - (float)y;
-    uchar b = (uchar)cvRound((img.at<cv::Vec3b>(y0, x0)[0] * (1.f - a) + img.at<cv::Vec3b>(y0, x1)[0] * a) * (1.f - c)
+//    uchar b = (uchar)cvRound((img.at<cv::Vec3b>(y0, x0)[0] * (1.f - a) + img.at<cv::Vec3b>(y0, x1)[0] * a) * (1.f - c)
-                           + (img.at<cv::Vec3b>(y1, x0)[0] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[0] * a) * c);
+//                           + (img.at<cv::Vec3b>(y1, x0)[0] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[0] * a) * c);
-    uchar g = (uchar)cvRound((img.at<cv::Vec3b>(y0, x0)[1] * (1.f - a) + img.at<cv::Vec3b>(y0, x1)[1] * a) * (1.f - c)
+//    uchar g = (uchar)cvRound((img.at<cv::Vec3b>(y0, x0)[1] * (1.f - a) + img.at<cv::Vec3b>(y0, x1)[1] * a) * (1.f - c)
-                           + (img.at<cv::Vec3b>(y1, x0)[1] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[1] * a) * c);
+//                           + (img.at<cv::Vec3b>(y1, x0)[1] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[1] * a) * c);
-    uchar r = (uchar)cvRound((img.at<cv::Vec3b>(y0, x0)[2] * (1.f - a) + img.at<cv::Vec3b>(y0, x1)[2] * a) * (1.f - c)
+//    uchar r = (uchar)cvRound((img.at<cv::Vec3b>(y0, x0)[2] * (1.f - a) + img.at<cv::Vec3b>(y0, x1)[2] * a) * (1.f - c)
-                           + (img.at<cv::Vec3b>(y1, x0)[2] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[2] * a) * c);
+//                           + (img.at<cv::Vec3b>(y1, x0)[2] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[2] * a) * c);
-    return cv::Vec3b(b, g, r);
+//    return cv::Vec3b(b, g, r);
-}
+//}
 void getlineCenters(const cv::Mat& linesScanLine, const cv::Mat& codeScanLine, std::vector<cv::Vec2f>& lineCenters){
     int nCols = linesScanLine.cols;
     cv::initUndistortRectifyMap(calibration.K1, calibration.k1, R1, P1, frameSize, CV_32F, map1X, map1Y);
     // gray-scale and remap
     std::vector<cv::Mat> frames0Rect(N);
     std::vector<cv::Mat> frames1Rect(N);
-    for(int i=0; i<N; i++){
+    for(unsigned int i=0; i<N; i++){
         cv::Mat temp;
         cv::cvtColor(frames0[i], temp, CV_BayerBG2GRAY);
         cv::remap(temp, frames0Rect[i], map0X, map0Y, CV_INTER_CUBIC);
         cv::cvtColor(frames1[i], temp, CV_BayerBG2GRAY);
         cv::remap(temp, frames1Rect[i], map1X, map1Y, CV_INTER_CUBIC);
     // decode patterns
     cv::Mat code0Gray(frameRectRows, frameRectCols, CV_32S, cv::Scalar(0));
     cv::Mat code1Gray(frameRectRows, frameRectCols, CV_32S, cv::Scalar(0));
     // into gray code
-    for(int i=0; i<nGrayBits; i++){
+    for(unsigned int i=0; i<nGrayBits; i++){
         cv::Mat temp, bit0, bit1;
         cv::compare(frames0GrayCode[i*2], frames0GrayCode[i*2+1], temp, cv::CMP_GT);
         temp.convertTo(bit0, CV_32S, 1.0/255.0);
         cv::add(code0Gray, bit0*twopowi(nGrayBits-i-1), code0Gray, cv::noArray(), CV_32S);
 //cvtools::writeMat(code0Binary, "code0Binary.mat", "code0Binary");
 //cvtools::writeMat(code1Binary, "code1Binary.mat", "code1Binary");
     // matching
     std::vector<cv::Vec2f> q0Rect, q1Rect;
-    for(int s=0; s<nLineShifts; s++){
+    for(unsigned int s=0; s<nLineShifts; s++){
         cv::Mat lines0 = frames0LineShift[s];
         cv::Mat lines1 = frames1LineShift[s];
         for(int row=0; row<frameRectRows; row++){
 //                cvtools::writeMat(code0Binary.row(row), "code0Binary.mat", "code0Binary");
 //                cvtools::writeMat(code1Binary.row(row), "code1Binary.mat", "code1Binary");
 //             }
             // match and store
-            int i=0, j=0;
+            unsigned int i=0, j=0;
             while(i<lineCenters0.size() && j<lineCenters1.size()){
                 if(lineCenters0[i][1] == lineCenters1[j][1]){
                     q0Rect.push_back(cv::Point2f(lineCenters0[i][0], row));
                     q1Rect.push_back(cv::Point2f(lineCenters1[j][0], row));

Subversion Repositories seema-scanner

(root)/src/algorithm/AlgorithmLineShift.cpp – Rev 134 → 167