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Line 147... Line 147...
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    for(int col=1; col<nCols; col++){
 147 
    for(int col=1; col<nCols; col++){
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        labelLeft = labelRight;
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        labelLeft = labelRight;
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        labelRight = data[col];
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        labelRight = data[col];
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        // labels need to non-background, and differ in exactly one bit
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        // labels need to be non-background, and differ in exactly one bit
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        if(labelLeft != -1 && labelRight != -1 && countBits(labelLeft^labelRight) == 1){
 153 
        if(labelLeft != -1 && labelRight != -1 && countBits(labelLeft^labelRight) == 1){
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            int orderingRelation = (labelLeft << Nbits) + labelRight;
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            int orderingRelation = (labelLeft << Nbits) + labelRight;
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            // store left label column
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            // store left label column
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            edges.push_back(cv::Vec4i(col-1, labelLeft, labelRight, orderingRelation));
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            edges.push_back(cv::Vec4i(col-1, labelLeft, labelRight, orderingRelation));
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        }
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        }
Line 164... Line 164...
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    std::vector<cv::Vec4i>::iterator it;
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    std::vector<cv::Vec4i>::iterator it;
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    it = std::unique(edges.begin(), edges.end(), sortingEqual);
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    it = std::unique(edges.begin(), edges.end(), sortingEqual);
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    edges.resize(std::distance(edges.begin(),it));
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    edges.resize(std::distance(edges.begin(),it));
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}
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}
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cv::Vec3b getColorSubpix(const cv::Mat& img, cv::Point2f pt){
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    assert(!img.empty());
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    assert(img.channels() == 3);
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    int x = (int)pt.x;
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    int y = (int)pt.y;
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    int x0 = cv::borderInterpolate(x,   img.cols, cv::BORDER_REFLECT_101);
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    int x1 = cv::borderInterpolate(x+1, img.cols, cv::BORDER_REFLECT_101);
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    int y0 = cv::borderInterpolate(y,   img.rows, cv::BORDER_REFLECT_101);
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    int y1 = cv::borderInterpolate(y+1, img.rows, cv::BORDER_REFLECT_101);
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    float a = pt.x - (float)x;
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    float c = pt.y - (float)y;
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    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)
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                           + (img.at<cv::Vec3b>(y1, x0)[0] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[0] * a) * c);
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    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)
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                           + (img.at<cv::Vec3b>(y1, x0)[1] * (1.f - a) + img.at<cv::Vec3b>(y1, x1)[1] * a) * c);
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    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)
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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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}
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void AlgorithmGrayCode::get3DPoints(SMCalibrationParameters calibration, const std::vector<cv::Mat>& frames0, const std::vector<cv::Mat>& frames1, std::vector<cv::Point3f>& Q, std::vector<cv::Vec3b>& color){
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void AlgorithmGrayCode::get3DPoints(SMCalibrationParameters calibration, const std::vector<cv::Mat>& frames0, const std::vector<cv::Mat>& frames1, std::vector<cv::Point3f>& Q, std::vector<cv::Vec3b>& color){
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 195 
 
171 
    assert(frames0.size() == N);
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    assert(frames0.size() == N);
172 
    assert(frames1.size() == N);
 197 
    assert(frames1.size() == N);
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Line 306... Line 331...
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 331 
 
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    // matching
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    // matching
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    std::vector<cv::Vec2f> q0Rect, q1Rect;
 333 
    std::vector<cv::Vec2f> q0Rect, q1Rect;
309 
    for(int row=0; row<frameRectRows; row++){
 334 
    for(int row=0; row<frameRectRows; row++){
310 
 
 335 
 
- 
 
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        // edge data structure containing [floor(column), labelLeft, labelRight, orderingRelation]
311 
        std::vector<cv::Vec4i> edges0, edges1;
 337 
        std::vector<cv::Vec4i> edges0, edges1;
312 
 
 338 
 
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        // sorted, unique edges
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        // sorted, unique edges
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        getEdgeLabels(code0Rect.row(row), Nbits, edges0);
 340 
        getEdgeLabels(code0Rect.row(row), Nbits, edges0);
315 
        getEdgeLabels(code1Rect.row(row), Nbits, edges1);
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        getEdgeLabels(code1Rect.row(row), Nbits, edges1);
Line 372... Line 398...
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        color.resize(0);
 398 
        color.resize(0);
373 
 
 399 
 
374 
        return;
 400 
        return;
375 
    }
 401 
    }
376 
 
 402 
 
377 
    // retrieve color information
 403 
    // retrieve color information (at integer coordinates)
378 
    color.resize(nMatches);
 404 
    color.resize(nMatches);
379 
    for(int i=0; i<nMatches; i++){
 405 
    for(int i=0; i<nMatches; i++){
380 
 
 406 
 
381 
        cv::Vec3b c0 = color0Rect.at<cv::Vec3b>(q0Rect[i][1], q0Rect[i][0]);
 407 
        cv::Vec3b c0 = color0Rect.at<cv::Vec3b>(q0Rect[i][1], q0Rect[i][0]);
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        cv::Vec3b c1 = color1Rect.at<cv::Vec3b>(q1Rect[i][1], q1Rect[i][0]);
 408 
        cv::Vec3b c1 = color1Rect.at<cv::Vec3b>(q1Rect[i][1], q1Rect[i][0]);
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//        cv::Vec3b c0 = getColorSubpix(color0Rect, q0Rect[i]);
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//        cv::Vec3b c1 = getColorSubpix(color1Rect, q0Rect[i]);
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384 
        color[i] = 0.5*c0 + 0.5*c1;
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        color[i] = 0.5*c0 + 0.5*c1;
385 
    }
 413 
    }
386 
 
 414 
 
387 
    // triangulate points
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    // triangulate points
Line 391... Line 419...
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//    C0.colRange(0, 3) = C0.colRange(0, 3)*R0;
 419 
//    C0.colRange(0, 3) = C0.colRange(0, 3)*R0;
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//    C1.colRange(0, 3) = C1.colRange(0, 3)*R1.t();
 420 
//    C1.colRange(0, 3) = C1.colRange(0, 3)*R1.t();
393 
    cv::triangulatePoints(P0, P1, q0Rect, q1Rect, QMatHomogenous);
 421 
    cv::triangulatePoints(P0, P1, q0Rect, q1Rect, QMatHomogenous);
394 
    cvtools::convertMatFromHomogeneous(QMatHomogenous, QMat);
 422 
    cvtools::convertMatFromHomogeneous(QMatHomogenous, QMat);
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    // undo rectification
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    // undo rectifying rotation
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    cv::Mat R0Inv;
 425 
    cv::Mat R0Inv;
398 
    cv::Mat(R0.t()).convertTo(R0Inv, CV_32F);
 426 
    cv::Mat(R0.t()).convertTo(R0Inv, CV_32F);
399 
    QMat = R0Inv*QMat;
 427 
    QMat = R0Inv*QMat;
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 428 
 
401 
    cvtools::matToPoints3f(QMat, Q);
 429 
    cvtools::matToPoints3f(QMat, Q);