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

 #ifndef log2f
 #define log2f(x) (log(x)/log(2.0))
 #endif
-static unsigned int nLineShifts = 8; // number of columns over which each line is shifted
+static unsigned int nLineShifts = 20; // 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));
-    nGrayBits = ceilf(log2f((float)screenCols)) - floorf(log2f((float)nLineShifts));
+    nGrayBits = nTotalBits - floorf(log2f((float)nLineShifts));
     N = 2 + 2*nGrayBits + nLineShifts;
     // all on pattern
     cv::Mat allOn(1, screenCols, CV_8UC3, cv::Scalar::all(255));
         for(unsigned int j=0; j<screenCols; j++){
             unsigned int jGray = binaryToGray(j);
             // Amplitude of channels
-            int bit = (int)getBit(jGray, nGrayBits-p);
+            int bit = (int)getBit(jGray, nTotalBits-p);
             pattern.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0*bit,255.0*bit,255.0*bit);
             int invBit = bit^1;
             patternInv.at<cv::Vec3b>(0,j) = cv::Vec3b(255.0*invBit,255.0*invBit,255.0*invBit);
+        }
         patterns.push_back(pattern);
 void getlineCenters(const cv::Mat& linesScanLine, const cv::Mat& codeScanLine, std::vector<cv::Vec2f>& lineCenters){
     int nCols = linesScanLine.cols;
     // fourth order derivative filtering
-    cv::Mat der(1, nCols, CV_8U);
+    cv::Mat der(1, nCols, CV_32F);
     for(int i=2; i<nCols-2; i++)
-        der.at<unsigned char>(0, i) = linesScanLine.at<unsigned char>(0, i-2)+linesScanLine.at<unsigned char>(0, i-1)-
+        der.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);
+//    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++){
-        if(der.at<unsigned char>(0, i) > 0 && der.at<unsigned char>(0, i+1) < 0){
+        if(der.at<float>(0, i) < 0.0 && der.at<unsigned char>(0, i+1) > 0.0){
             lineCenters.push_back(cv::Vec2f(i, codeScanLine.at<unsigned char>(0, i)));
             // TODO: subpixel interpolation, non-max suppression
+        }
     cv::subtract(frames0Rect[0], frames0Rect[1], occlusion0Rect);
     occlusion0Rect = (occlusion0Rect > 20) & (occlusion0Rect < 250);
     cv::subtract(frames1Rect[0], frames1Rect[1], occlusion1Rect);
     occlusion1Rect = (occlusion1Rect > 20) & (occlusion1Rect < 250);
-    //cvtools::writeMat(occlusion0Rect, "occlusion0Rect.mat", "occlusion0Rect");
+//    cvtools::writeMat(occlusion0Rect, "occlusion0Rect.mat", "occlusion0Rect");
-    //cvtools::writeMat(occlusion1Rect, "occlusion1Rect.mat", "occlusion1Rect");
+//    cvtools::writeMat(occlusion1Rect, "occlusion1Rect.mat", "occlusion1Rect");
     // 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);
     //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
-    std::vector<cv::Mat> frames0GrayCode(frames0Rect.begin()+2, frames0Rect.begin()+2+nGrayBits);
+    std::vector<cv::Mat> frames0GrayCode(frames0Rect.begin()+2, frames0Rect.begin()+2+2*nGrayBits);
-    std::vector<cv::Mat> frames0LineShift(frames0Rect.begin()+2+nGrayBits, frames0Rect.end());
+    std::vector<cv::Mat> frames0LineShift(frames0Rect.begin()+2+2*nGrayBits, frames0Rect.end());
-    std::vector<cv::Mat> frames1GrayCode(frames1Rect.begin()+2, frames1Rect.begin()+2+nGrayBits);
+    std::vector<cv::Mat> frames1GrayCode(frames1Rect.begin()+2, frames1Rect.begin()+2+2*nGrayBits);
-    std::vector<cv::Mat> frames1LineShift(frames1Rect.begin()+2+nGrayBits, frames1Rect.end());
+    std::vector<cv::Mat> frames1LineShift(frames1Rect.begin()+2+2*nGrayBits, frames1Rect.end());
     // decode patterns
     cv::Mat code0Gray(frameRectRows, frameRectCols, CV_32S, cv::Scalar(0));
     cv::Mat code1Gray(frameRectRows, frameRectCols, CV_32S, cv::Scalar(0));
         cv::compare(frames1GrayCode[i*2], frames1GrayCode[i*2+1], temp, cv::CMP_GT);
         temp.convertTo(bit1, CV_32S, 1.0/255.0);
         cv::add(code1Gray, bit1*twopowi(nGrayBits-i-1), code1Gray, cv::noArray(), CV_32S);
+    }
-    // set occluded pixels to -1
+    // convert to standard binary
+    cv::Mat code0Binary(code0Gray.rows, code0Gray.cols, CV_32S, cv::Scalar(-1));
+    cv::Mat code1Binary(code1Gray.rows, code1Gray.cols, CV_32S, cv::Scalar(-1));
     for(int r=0; r<frameRectRows; r++){
         for(int c=0; c<frameRectCols; c++){
-            if(occlusion0Rect.at<unsigned char>(r,c) == 0)
-                code0Gray.at<int>(r,c) = -1;
+            code0Binary.at<int>(r,c) = grayToBinary(code0Gray.at<int>(r,c));
-            if(occlusion1Rect.at<unsigned char>(r,c) == 0)
-                code1Gray.at<int>(r,c) = -1;
+            code1Binary.at<int>(r,c) = grayToBinary(code1Gray.at<int>(r,c));
+        }
+    }
-    // convert to standard binary
+    // set occluded pixels to -1
-    cv::Mat code0Binary(code0Gray.rows, code0Gray.cols, CV_32F);
-    cv::Mat code1Binary(code1Gray.rows, code1Gray.cols, CV_32F);
     for(int r=0; r<frameRectRows; r++){
         for(int c=0; c<frameRectCols; c++){
-            if(code0Gray.at<int>(r,c) != -1)
+            if(occlusion0Rect.at<unsigned char>(r,c) == 0)
-                code0Binary.at<float>(r,c) = grayToBinary(code0Gray.at<int>(r,c));
+                code0Binary.at<int>(r,c) = -1;
-            if(code1Gray.at<int>(r,c) != -1)
+            if(occlusion1Rect.at<unsigned char>(r,c) == 0)
-                code1Binary.at<float>(r,c) = grayToBinary(code1Gray.at<int>(r,c));
+                code1Binary.at<int>(r,c) = -1;
+        }
+    }
-    //cvtools::writeMat(code0Gray, "code0Gray.mat", "code0Gray");
+cvtools::writeMat(code0Gray, "code0Gray.mat", "code0Gray");
-    //cvtools::writeMat(code1Gray, "code1Gray.mat", "code1Gray");
+cvtools::writeMat(code1Gray, "code1Gray.mat", "code1Gray");
+cvtools::writeMat(code0Binary, "code0Binary.mat", "code0Binary");
+cvtools::writeMat(code1Binary, "code1Binary.mat", "code1Binary");
     // TODO: iterate through all line frames
     cv::Mat lines0 = frames0LineShift[0];
     cv::Mat lines1 = frames1LineShift[0];

Subversion Repositories seema-scanner

(root)/src/algorithm/AlgorithmLineShift.cpp @ 247 – Rev 124 → 125