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cv::Mat AlgorithmPhaseShiftThreeFreq::getEncodingPattern(unsigned int depth){
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cv::Mat AlgorithmPhaseShiftThreeFreq::getEncodingPattern(unsigned int depth){
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    return patterns[depth];
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    return patterns[depth];
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}
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}
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void AlgorithmPhaseShiftThreeFreq::get3DPoints(const 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 AlgorithmPhaseShiftThreeFreq::get3DPoints(const SMCalibrationParameters & calibration, const std::vector<cv::Mat>& frames0, const std::vector<cv::Mat>& frames1, std::vector<cv::Point3f>& Q, std::vector<cv::Vec3f>& color){
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    assert(frames0.size() == N);
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    assert(frames0.size() == N);
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    assert(frames1.size() == N);
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    assert(frames1.size() == N);
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    int frameRows = frames0[0].rows;
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    int frameRows = frames0[0].rows;
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    // Gray-scale and remap
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    // Gray-scale and remap
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    std::vector<cv::Mat> frames0Rect(N);
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    std::vector<cv::Mat> frames0Rect(N);
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    std::vector<cv::Mat> frames1Rect(N);
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    std::vector<cv::Mat> frames1Rect(N);
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    for(unsigned int i=0; i<N; i++){
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    for(unsigned int i=0; i<N; i++){
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        cv::Mat temp;
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        cv::Mat temp;
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        cv::cvtColor(frames0[i], temp, CV_BayerBG2GRAY);
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        cv::cvtColor(frames0[i], temp, CV_RGB2GRAY);
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        cv::remap(temp, frames0Rect[i], map0X, map0Y, CV_INTER_LINEAR);
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        cv::remap(temp, frames0Rect[i], map0X, map0Y, CV_INTER_LINEAR);
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        cv::cvtColor(frames1[i], temp, CV_BayerBG2GRAY);
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        cv::cvtColor(frames1[i], temp, CV_RGB2GRAY);
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        cv::remap(temp, frames1Rect[i], map1X, map1Y, CV_INTER_LINEAR);
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        cv::remap(temp, frames1Rect[i], map1X, map1Y, CV_INTER_LINEAR);
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    }
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    }
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    // Decode camera0
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    // Decode camera0
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    std::vector<cv::Mat> frames0First(frames0Rect.begin()+2, frames0Rect.begin()+2+nStepsFirst);
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    std::vector<cv::Mat> frames0First(frames0Rect.begin()+2, frames0Rect.begin()+2+nStepsFirst);
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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 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::remap(color0, color0, map0X, map0Y, CV_INTER_LINEAR);
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    cv::remap(frames0[0], color0, map0X, map0Y, CV_INTER_LINEAR);
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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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    cv::remap(frames1[0], 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
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    // Occlusion masks
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    // Occlusion masks
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    cv::Mat occlusion0, occlusion1;
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    cv::Mat occlusion0, occlusion1;
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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 > 25) & (occlusion0 < 250);
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    occlusion0 = (occlusion0 > 0.1) & (occlusion0 < 0.98);
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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 > 25) & (occlusion1 < 250);
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    occlusion1 = (occlusion1 > 0.1) & (occlusion1 < 0.98);
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    // Threshold on range
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    // Threshold on range
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    occlusion0 = occlusion0 & (up0Range < 0.05);
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    occlusion0 = occlusion0 & (up0Range < 0.05);
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    occlusion1 = occlusion1 & (up1Range < 0.05);
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    occlusion1 = occlusion1 & (up1Range < 0.05);
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//    // Erode occlusion masks
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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::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(occlusion0, occlusion0, strel);
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//    cv::erode(occlusion1, occlusion1, strel);
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//    cv::erode(occlusion1, occlusion1, strel);
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    // Threshold on gradient of phase
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    // Threshold on vertical gradient of phase
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    cv::Mat edges0;
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    cv::Mat edges0;
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    cv::Sobel(up0, edges0, -1, 1, 1, 5);
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    cv::Sobel(up0, edges0, -1, 0, 1, 5);
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    occlusion0 = occlusion0 & (abs(edges0) < 150);
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    occlusion0 = occlusion0 & (abs(edges0) < 100);
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    cv::Mat edges1;
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    cv::Mat edges1;
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    cv::Sobel(up1, edges1, -1, 1, 1, 5);
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    cv::Sobel(up1, edges1, -1, 0, 1, 5);
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    occlusion1 = occlusion1 & (abs(edges1) < 150);
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    occlusion1 = occlusion1 & (abs(edges1) < 100);
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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
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    #endif
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    // Retrieve color information
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    // Retrieve color information
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    color.resize(nMatches);
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    color.resize(nMatches);
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    for(int i=0; i<nMatches; i++){
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    for(int i=0; i<nMatches; i++){
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        cv::Vec3b c0 = color0.at<cv::Vec3b>(q0[i][1], q0[i][0]);
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        cv::Vec3f c0 = color0.at<cv::Vec3f>(q0[i][1], q0[i][0]);
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        cv::Vec3b c1 = color1.at<cv::Vec3b>(q1[i][1], q1[i][0]);
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        cv::Vec3f c1 = color1.at<cv::Vec3f>(q1[i][1], q1[i][0]);
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        color[i] = 0.5*c0 + 0.5*c1;
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        color[i] = 0.5*c0 + 0.5*c1;
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    }
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    }
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    // Triangulate by means of disparity projection
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    // Triangulate by means of disparity projection