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

 #ifndef log2f
 #define log2f(x) (log(x)/log(2.0))
 #endif
-static unsigned int nLineShifts = 20; // number of columns over which each line is shifted
+static unsigned int nLineShifts = 8; // number of columns over which each line is shifted
 /*
  * The purpose of this function is to convert an unsigned
  * binary number to reflected binary Gray code.
+ *
 // Algorithm
 AlgorithmLineShift::AlgorithmLineShift(unsigned int _screenCols, unsigned int _screenRows) : Algorithm(_screenCols, _screenRows){
     int nTotalBits = ceilf(log2f((float)screenCols));
+    // determine the necessary Gray code bits and add some robustness
-    nGrayBits = nTotalBits - floorf(log2f((float)nLineShifts));
+    nGrayBits = nTotalBits - floorf(log2f((float)nLineShifts)) + 2;
     N = 2 + 2*nGrayBits + nLineShifts;
     // all on pattern
     cv::Mat allOn(1, screenCols, CV_8UC3, cv::Scalar::all(255));
 void getlineCenters(const cv::Mat& linesScanLine, const cv::Mat& codeScanLine, std::vector<cv::Vec2f>& lineCenters){
     int nCols = linesScanLine.cols;
-    // fourth order derivative filtering
+    // finite derivative
-    cv::Mat der(1, nCols, CV_32F);
+    cv::Mat g(1, nCols, CV_32F);
+    cv::Mat h(1, nCols, CV_32F);
-    for(int i=2; i<nCols-2; i++)
+    for(int i=2; i<nCols-2; i++){
-        der.at<float>(0, i) = linesScanLine.at<unsigned char>(0, i-2)+linesScanLine.at<unsigned char>(0, i-1)-
+//        g.at<float>(0, i) = linesScanLine.at<unsigned char>(0, i+2)+linesScanLine.at<unsigned char>(0, i+1)-
-                              linesScanLine.at<unsigned char>(0, i+1)-linesScanLine.at<unsigned char>(0, i+2);
+//                            linesScanLine.at<unsigned char>(0, i-1)-linesScanLine.at<unsigned char>(0, i-2);
+        g.at<float>(0, i) = 1.0*linesScanLine.at<unsigned char>(0, i+2)+8.0*linesScanLine.at<unsigned char>(0, i+1)-
+.0*linesScanLine.at<unsigned char>(0, i-1)-1.0*linesScanLine.at<unsigned char>(0, i-2);
+        h.at<float>(0, i) = -1.0*linesScanLine.at<unsigned char>(0, i+2)+16.0*linesScanLine.at<unsigned char>(0, i+1)-
+.0*linesScanLine.at<unsigned char>(0, i)+
+.0*linesScanLine.at<unsigned char>(0, i-1)-1.0*linesScanLine.at<unsigned char>(0, i-2);
+    }
 //    cvtools::writeMat(codeScanLine, "codeScanLine.mat", "codeScanLine");
 //    cvtools::writeMat(linesScanLine, "linesScanLine.mat", "linesScanLine");
 //    cvtools::writeMat(der, "der.mat", "der");
-    for(int i=0; i<nCols; i++){
+    for(int i=0; i<nCols-1; i++){
+//        float fLeft = linesScanLine.at<unsigned char>(0, i-1);
-        int code = codeScanLine.at<int>(0, i);
+        float fI = linesScanLine.at<unsigned char>(0, i);
+//        float fRight = linesScanLine.at<unsigned char>(0, i+1);
+        float gI = g.at<float>(0, i);
+        float gRight = g.at<float>(0, i+1);
+        float hI = h.at<float>(0, i);
+        int codeI = codeScanLine.at<int>(0, i);
-        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)){
+        //int codeRight = codeScanLine.at<int>(0, i+1);
+        if((codeI != -1) && (fI > 1) && (gI >= 0.0) && (gRight <= 0.0) && (gRight < gI) && (hI < -2.0)){
-            lineCenters.push_back(cv::Vec2f(i, code));
+            float delta = gI/(gI - gRight);
-            // TODO: subpixel interpolation, non-max suppression
+            lineCenters.push_back(cv::Vec2f(i + delta, codeI));
+        }
+    }
+}
     // erode occlusion masks
     cv::Mat strel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(2,2));
     cv::erode(occlusion0Rect, occlusion0Rect, strel);
     cv::erode(occlusion1Rect, occlusion1Rect, strel);
-    // correct for texture modulation and ambient
+//    // correct for texture modulation and ambient
-    cv::Mat A0 = frames0Rect[1];
+//    cv::Mat A0 = frames0Rect[1];
-    cv::Mat M0 = frames0Rect[0]-frames0Rect[1];
+//    cv::Mat M0 = frames0Rect[0]-frames0Rect[1];
-    cv::divide(256.0, M0, M0, CV_32F);
+//    cv::divide(256.0, M0, M0, CV_32F);
-    cv::Mat A1 = frames1Rect[1];
+//    cv::Mat A1 = frames1Rect[1];
-    cv::Mat M1 = frames1Rect[0]-frames1Rect[1];
+//    cv::Mat M1 = frames1Rect[0]-frames1Rect[1];
-    cv::divide(256.0, M1, M1, CV_32F);
+//    cv::divide(256.0, M1, M1, CV_32F);
-    for(int i=2; i<N; i++){
+//    for(int i=2; i<N; i++){
-        cv::multiply(frames0Rect[i]-A0, M0, frames0Rect[i], 1.0, CV_8UC1);
+//        cv::multiply(frames0Rect[i]-A0, M0, frames0Rect[i], 1.0, CV_8UC1);
-        cv::multiply(frames1Rect[i]-A1, M1, frames1Rect[i], 1.0, CV_8UC1);
+//        cv::multiply(frames1Rect[i]-A1, M1, frames1Rect[i], 1.0, CV_8UC1);
-    }
+//    }
     //cvtools::writeMat(frames0Rect[22], "frames0Rect_22.mat", "frames0Rect_22");
     //cvtools::writeMat(frames0Rect[23], "frames0Rect_23.mat", "frames0Rect_23");
     // divide into Gray coding frames and line shift frames
             // sorted, unique line centers
             getlineCenters(lines0.row(row), code0Binary.row(row), lineCenters0);
             getlineCenters(lines1.row(row), code1Binary.row(row), lineCenters1);
-//         if(s==0 && row==1300){
+         if(s==0 && row==1300){
-//            std::cout << cv::Mat(lineCenters0) << std::endl;
+            std::cout << cv::Mat(lineCenters0) << std::endl;
-//            std::cout << cv::Mat(lineCenters1) << std::endl;
+            std::cout << cv::Mat(lineCenters1) << std::endl;
-//            cvtools::writeMat(lines0.row(row), "lines0.mat", "lines0");
+            cvtools::writeMat(lines0.row(row), "lines0.mat", "lines0");
-//            cvtools::writeMat(lines1.row(row), "lines1.mat", "lines1");
+            cvtools::writeMat(lines1.row(row), "lines1.mat", "lines1");
-//            cvtools::writeMat(code0Binary.row(row), "code0Binary.mat", "code0Binary");
+            cvtools::writeMat(code0Binary.row(row), "code0Binary.mat", "code0Binary");
-//            cvtools::writeMat(code1Binary.row(row), "code1Binary.mat", "code1Binary");
+            cvtools::writeMat(code1Binary.row(row), "code1Binary.mat", "code1Binary");
-//         }
+         }
             // match and store
             int i=0, j=0;
             while(i<lineCenters0.size() && j<lineCenters1.size()){

Subversion Repositories seema-scanner

(root)/src/algorithm/AlgorithmLineShift.cpp @ 233 – Rev 126 → 127