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//
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// Line Shifting Structured Light
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//
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// This implementation closely follows Jens Guhring "Dense 3D surface acquisition by structured light using off-the-shelf components" (2000).
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//
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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 "algorithmtools.h"
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#include <opencv2/imgproc/imgproc.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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#ifndef log2f
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#define log2f(x) (log(x)/log(2.0))
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#endif
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static unsigned int nLineShifts = 8; // number of columns over which each line is shifted
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static unsigned int nLineShifts = 8; // number of columns over which each line is shifted
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/*
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 * The purpose of this function is to convert an unsigned
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 * binary number to reflected binary Gray code.
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 *
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 * The operator >> is shift right. The operator ^ is exclusive or.
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 * Source: http://en.wikipedia.org/wiki/Gray_code
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 */
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static unsigned int binaryToGray(unsigned int num) {
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    return (num >> 1) ^ num;
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}
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/*
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 * From Wikipedia: http://en.wikipedia.org/wiki/Gray_code
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 * The purpose of this function is to convert a reflected binary
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 * Gray code number to a binary number.
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 */
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static unsigned int grayToBinary(unsigned int num){
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    unsigned int mask;
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    for(mask = num >> 1; mask != 0; mask = mask >> 1)
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        num = num ^ mask;
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    return num;
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}
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/*
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 * Return the Nth bit of an unsigned integer number
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 */
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static bool getBit(int decimal, int N){
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    return decimal & 1 << (N-1);
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}
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///*
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// * Return the number of bits set in an integer
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// */
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//static int countBits(int n) {
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//  unsigned int c; // c accumulates the total bits set in v
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//  for (c = 0; n>0; c++)
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//    n &= n - 1; // clear the least significant bit set
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//  return c;
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//}
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///*
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// * Return the position of the least significant bit that is set
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// */
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//static int leastSignificantBitSet(int x){
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//  if(x == 0)
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//      return 0;
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//  int val = 1;
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//  while(x>>=1)
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//      val++;
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//  return val;
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//}
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static inline unsigned int powi(int num, unsigned int exponent){
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    if(exponent == 0)
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        return 1;
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    float res = num;
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    for(unsigned int i=0; i<exponent-1; i++)
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        res *= num;
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    return res;
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}
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static inline unsigned int twopowi(unsigned int exponent){
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    return 1 << exponent;
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}
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// Algorithm
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// Algorithm
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AlgorithmLineShift::AlgorithmLineShift(unsigned int _screenCols, unsigned int _screenRows) : Algorithm(_screenCols, _screenRows){
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AlgorithmLineShift::AlgorithmLineShift(unsigned int _screenCols, unsigned int _screenRows) : Algorithm(_screenCols, _screenRows){
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    int nTotalBits = ceilf(log2f((float)screenCols));
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    int nTotalBits = ceilf(log2f((float)screenCols));
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