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Line 127... Line 127...
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    cv::phase(F0Tertiary[2], -F0Tertiary[3], up0Tertiary);
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    cv::phase(F0Tertiary[2], -F0Tertiary[3], up0Tertiary);
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    cv::Mat up0EquivalentPS = up0Primary - up0Secondary;
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    cv::Mat up0EquivalentPS = up0Primary - up0Secondary;
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    up0EquivalentPS = cvtools::modulo(up0EquivalentPS, 2.0*pi);
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    up0EquivalentPS = cvtools::modulo(up0EquivalentPS, 2.0*pi);
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    cv::Mat up0EquivalentST = up0Secondary - up0Tertiary;
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    cv::Mat up0EquivalentPT = up0Primary - up0Tertiary;
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    up0EquivalentST = cvtools::modulo(up0EquivalentST, 2.0*pi);
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    up0EquivalentPT = cvtools::modulo(up0EquivalentPT, 2.0*pi);
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    cv::Mat up0Equivalent = up0EquivalentPS - up0EquivalentST;
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    cv::Mat up0Equivalent = up0EquivalentPS - up0EquivalentPT;
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    up0Equivalent = cvtools::modulo(up0Equivalent, 2.0*pi);
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    up0Equivalent = cvtools::modulo(up0Equivalent, 2.0*pi);
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    cv::Mat up0 = unwrapWithCue(up0Primary, up0Equivalent, (float)screenCols/nPeriodsPrimary);
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    cv::Mat up0 = unwrapWithCue(up0Primary, up0Equivalent, (float)screenCols/nPeriodsPrimary);
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    up0 *= screenCols/(2.0*pi);
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    up0 *= screenCols/(2.0*pi);
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    cv::Mat amplitude0;
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    cv::Mat amplitude0;
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    up1EquivalentST = cvtools::modulo(up1EquivalentST, 2.0*pi);
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    up1EquivalentST = cvtools::modulo(up1EquivalentST, 2.0*pi);
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    cv::Mat up1Equivalent = up1EquivalentPS - up1EquivalentST;
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    cv::Mat up1Equivalent = up1EquivalentPS - up1EquivalentST;
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    up1Equivalent = cvtools::modulo(up1Equivalent, 2.0*pi);
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    up1Equivalent = cvtools::modulo(up1Equivalent, 2.0*pi);
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- 
 
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    // TODO: we should use backward phase unwrapping (Song Zhang term)...
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    cv::Mat up1 = unwrapWithCue(up1Primary, up1Equivalent, (float)screenCols/nPeriodsPrimary);
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    cv::Mat up1 = unwrapWithCue(up1Primary, up1Equivalent, (float)screenCols/nPeriodsPrimary);
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    up1 *= screenCols/(2.0*pi);
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    up1 *= screenCols/(2.0*pi);
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    cv::Mat amplitude1;
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    cv::Mat amplitude1;
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    cv::magnitude(F1Primary[2], -F1Primary[3], amplitude1);
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    cv::magnitude(F1Primary[2], -F1Primary[3], amplitude1);
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    #ifdef QT_DEBUG
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    #ifdef QT_DEBUG
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        cvtools::writeMat(up0Primary, "up0Primary.mat", "up0Primary");
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        cvtools::writeMat(up0Primary, "up0Primary.mat", "up0Primary");
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        cvtools::writeMat(up0Secondary, "up0Secondary.mat", "up0Secondary");
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        cvtools::writeMat(up0Secondary, "up0Secondary.mat", "up0Secondary");
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        cvtools::writeMat(up0Tertiary, "up0Tertiary.mat", "up0Tertiary");
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        cvtools::writeMat(up0Tertiary, "up0Tertiary.mat", "up0Tertiary");
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        cvtools::writeMat(up0EquivalentPS, "up0EquivalentPS.mat", "up0EquivalentPS");
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        cvtools::writeMat(up0EquivalentPS, "up0EquivalentPS.mat", "up0EquivalentPS");
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        cvtools::writeMat(up0EquivalentST, "up0EquivalentST.mat", "up0EquivalentST");
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        cvtools::writeMat(up0EquivalentPT, "up0EquivalentPT.mat", "up0EquivalentPT");
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        cvtools::writeMat(up0Equivalent, "up0Equivalent.mat", "up0Equivalent");
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        cvtools::writeMat(up0, "up0.mat", "up0");
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        cvtools::writeMat(up0, "up0.mat", "up0");
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        cvtools::writeMat(up1, "up1.mat", "up1");
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        cvtools::writeMat(up1, "up1.mat", "up1");
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        cvtools::writeMat(amplitude0, "amplitude0.mat", "amplitude0");
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        cvtools::writeMat(amplitude0, "amplitude0.mat", "amplitude0");
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        cvtools::writeMat(amplitude0, "amplitude0.mat", "amplitude0");
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        cvtools::writeMat(amplitude0, "amplitude0.mat", "amplitude0");
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        cvtools::writeMat(amplitude1, "amplitude1.mat", "amplitude1");
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        cvtools::writeMat(amplitude1, "amplitude1.mat", "amplitude1");
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    #endif
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    #endif
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    // Color debayer and remap
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    // color debayer and remap
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    cv::Mat color0, color1;
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    cv::Mat color0, color1;
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    cv::cvtColor(frames0[0], color0, CV_BayerBG2RGB);
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    cv::cvtColor(frames0[0], color0, CV_BayerBG2RGB);
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    cv::remap(color0, color0, map0X, map0Y, CV_INTER_LINEAR);
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    cv::cvtColor(frames1[0], color1, CV_BayerBG2RGB);
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    cv::cvtColor(frames1[0], color1, CV_BayerBG2RGB);
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    cv::remap(color1, color1, map1X, map1Y, CV_INTER_LINEAR);
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    #ifdef QT_DEBUG
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    #ifdef QT_DEBUG
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        cvtools::writeMat(color0, "color0.mat", "color0");
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        cvtools::writeMat(color0, "color0.mat", "color0");
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        cvtools::writeMat(color1, "color1.mat", "color1");
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        cvtools::writeMat(color1, "color1.mat", "color1");
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    #endif
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    #endif
Line 198... Line 204...
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    cv::subtract(frames0Rect[0], frames0Rect[1], occlusion0);
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    cv::subtract(frames0Rect[0], frames0Rect[1], occlusion0);
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    occlusion0 = (occlusion0 > 5) & (occlusion0 < 250);
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    occlusion0 = (occlusion0 > 5) & (occlusion0 < 250);
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    cv::subtract(frames1Rect[0], frames1Rect[1], occlusion1);
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    cv::subtract(frames1Rect[0], frames1Rect[1], occlusion1);
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    occlusion1 = (occlusion1 > 5) & (occlusion1 < 250);
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    occlusion1 = (occlusion1 > 5) & (occlusion1 < 250);
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    #ifdef QT_DEBUG
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        // Erode occlusion masks
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        cv::Mat strel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(5,5));
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        cv::erode(occlusion0, occlusion0, strel);
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        cv::erode(occlusion1, occlusion1, strel);
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    #endif
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 - 
 
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    // Threshold on gradient of phase
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    // Threshold on gradient of phase
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    cv::Mat edges0;
 210 
    cv::Mat edges0;
212 
    cv::Sobel(up0, edges0, -1, 1, 1, 5);
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    cv::Sobel(up0, edges0, -1, 1, 1, 5);
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    occlusion0 = occlusion0 & (abs(edges0) < 150);
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    occlusion0 = occlusion0 & (abs(edges0) < 150);
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    cv::Mat edges1;
 213 
    cv::Mat edges1;
Line 218... Line 217...
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    #ifdef QT_DEBUG
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    #ifdef QT_DEBUG
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        cvtools::writeMat(edges0, "edges0.mat", "edges0");
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        cvtools::writeMat(edges0, "edges0.mat", "edges0");
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        cvtools::writeMat(edges1, "edges1.mat", "edges1");
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        cvtools::writeMat(edges1, "edges1.mat", "edges1");
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    #endif
 220 
    #endif
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 221 
 
- 
 
 222 
    #ifdef QT_DEBUG
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 223 
        cvtools::writeMat(occlusion0, "occlusion0.mat", "occlusion0");
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 224 
        cvtools::writeMat(occlusion1, "occlusion1.mat", "occlusion1");
- 
 
 225 
    #endif
- 
 
 226 
 
223 
    // Match phase maps
 227 
    // Match phase maps
224 
    int frameRectRows = map0X.rows;
 228 
    int frameRectRows = map0X.rows;
225 
    int frameRectCols = map0X.cols;
 229 
    int frameRectCols = map0X.cols;
226 
 
 230 
 
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    // camera0 against camera1
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    // camera0 against camera1