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//

// Two Frequency Phase Shifting using the Heterodyne Principle

//

// This implementation follows "Reich, Ritter, Thesing, White light heterodyne principle for 3D-measurement", SPIE (1997)

// Different from the paper, it uses only two different frequencies.

//

// The number of periods in the primary frequency can be chosen freely, but small changes can have a considerable impact on quality.

// The number of phase shifts can be chosen freely (min. 3), and higher values reduce the effects of image noise. They also allow us to filter bad points based on energy at non-primary frequencies.

//

#include "AlgorithmPhaseShiftTwoFreq.h"

#include <math.h>

#include "cvtools.h"

#include "algorithmtools.h"

#ifndef M_PI

    #define M_PI 3.14159265358979323846

#endif

static unsigned int nStepsPrimary = 16; // number of shifts/steps in primary

static unsigned int nStepsSecondary = 8; // number of shifts/steps in secondary

static float nPeriodsPrimary = 40; // primary period

AlgorithmPhaseShiftTwoFreq::AlgorithmPhaseShiftTwoFreq(unsigned int _screenCols, unsigned int _screenRows) : Algorithm(_screenCols, _screenRows){

    // Set N

    N = 2+nStepsPrimary+nStepsSecondary;

    // Determine the secondary (wider) period to fulfill the heterodyne condition

    float nPeriodsSecondary = nPeriodsPrimary + 1;

    // all on pattern

    cv::Mat allOn(1, screenCols, CV_8UC3, cv::Scalar::all(255));

    patterns.push_back(allOn);

    // all off pattern

    cv::Mat allOff(1, screenCols, CV_8UC3, cv::Scalar::all(0));

    patterns.push_back(allOff);

    // Precompute encoded patterns

    const float pi = M_PI;

    // Primary encoding patterns

    for(unsigned int i=0; i<nStepsPrimary; i++){

        float phase = 2.0*pi/nStepsPrimary * i;

        float pitch = screenCols/nPeriodsPrimary;

        cv::Mat patternI(1,1,CV_8U);

        patternI = computePhaseVector(screenCols, phase, pitch);

        patterns.push_back(patternI.t());

    }

    // Secondary encoding patterns

    for(unsigned int i=0; i<nStepsSecondary; i++){

        float phase = 2.0*pi/nStepsSecondary * i;

        float pitch = screenCols/nPeriodsSecondary;

        cv::Mat patternI(1,1,CV_8U);

        patternI = computePhaseVector(screenCols, phase, pitch);

        patterns.push_back(patternI.t());

    }

}

cv::Mat AlgorithmPhaseShiftTwoFreq::getEncodingPattern(unsigned int depth){

    return patterns[depth];

}

void AlgorithmPhaseShiftTwoFreq::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){

    const float pi = M_PI;

    assert(frames0.size() == N);

    assert(frames1.size() == N);

    int frameRows = frames0[0].rows;

    int frameCols = frames0[0].cols;

    // Rectifying homographies (rotation+projections)

    cv::Size frameSize(frameCols, frameRows);

    cv::Mat R, T;

    // stereoRectify segfaults unless R is double precision

    cv::Mat(calibration.R1).convertTo(R, CV_64F);

    cv::Mat(calibration.T1).convertTo(T, CV_64F);

    cv::Mat R0, R1, P0, P1, QRect;

    cv::stereoRectify(calibration.K0, calibration.k0, calibration.K1, calibration.k1, frameSize, R, T, R0, R1, P0, P1, QRect, 0);

    // Interpolation maps (lens distortion and rectification)

    cv::Mat map0X, map0Y, map1X, map1Y;

    cv::initUndistortRectifyMap(calibration.K0, calibration.k0, R0, P0, frameSize, CV_32F, map0X, map0Y);

    cv::initUndistortRectifyMap(calibration.K1, calibration.k1, R1, P1, frameSize, CV_32F, map1X, map1Y);

    int frameRectRows = map0X.rows;

    int frameRectCols = map0X.cols;

    // Gray-scale and remap

    std::vector<cv::Mat> frames0Rect(N);

    std::vector<cv::Mat> frames1Rect(N);

    for(unsigned int i=0; i<N; i++){

        cv::Mat temp;

        cv::cvtColor(frames0[i], temp, CV_BayerBG2GRAY);

        cv::remap(temp, frames0Rect[i], map0X, map0Y, CV_INTER_LINEAR);

        cv::cvtColor(frames1[i], temp, CV_BayerBG2GRAY);

        cv::remap(temp, frames1Rect[i], map1X, map1Y, CV_INTER_LINEAR);

    }

    // Decode camera0

    std::vector<cv::Mat> frames0Primary(frames0Rect.begin()+2, frames0Rect.begin()+2+nStepsPrimary);

    std::vector<cv::Mat> frames0Secondary(frames0Rect.begin()+2+nStepsPrimary, frames0Rect.end());

    std::vector<cv::Mat> F0Primary = getDFTComponents(frames0Primary);

    cv::Mat up0Primary;

    cv::phase(F0Primary[2], -F0Primary[3], up0Primary);

    std::vector<cv::Mat> F0Secondary = getDFTComponents(frames0Secondary);

    cv::Mat up0Secondary;

    cv::phase(F0Secondary[2], -F0Secondary[3], up0Secondary);

    cv::Mat up0Equivalent = up0Secondary - up0Primary;

    up0Equivalent = cvtools::modulo(up0Equivalent, 2.0*pi);

    cv::Mat up0 = unwrapWithCue(up0Primary, up0Equivalent, nPeriodsPrimary);

    up0 *= screenCols/(2.0*pi);

    cv::Mat amplitude0;

    cv::magnitude(F0Primary[2], -F0Primary[3], amplitude0);

    // Collected signal energy at higher frequencies

    cv::Mat energy0Primary(frameRectRows, frameRectCols, CV_32F, cv::Scalar(0.0));

    for(unsigned int i=0; i<nStepsPrimary-1; i++){

        cv::Mat magnitude;

        cv::magnitude(F0Primary[i*2 + 2], F0Primary[i*2 + 3], magnitude);

        cv::add(energy0Primary, magnitude, energy0Primary, cv::noArray(), CV_32F);

    }

    cv::Mat energy0Secondary(frameRectRows, frameRectCols, CV_32F, cv::Scalar(0.0));

    for(unsigned int i=0; i<nStepsSecondary-1; i++){

        cv::Mat magnitude;

        cv::magnitude(F0Secondary[i*2 + 2], F0Secondary[i*2 + 3], magnitude);

        cv::add(energy0Secondary, magnitude, energy0Secondary, cv::noArray(), CV_32F);

    }

    #ifdef QT_DEBUG

        cvtools::writeMat(up0Primary, "up0Primary.mat", "up0Primary");

        cvtools::writeMat(up0Secondary, "up0Secondary.mat", "up0Secondary");

        cvtools::writeMat(up0Equivalent, "up0Equivalent.mat", "up0Equivalent");

        cvtools::writeMat(up0, "up0.mat", "up0");

        cvtools::writeMat(amplitude0, "amplitude0.mat", "amplitude0");

        cvtools::writeMat(energy0Primary, "energy0Primary.mat", "energy0Primary");

        cvtools::writeMat(energy0Secondary, "energy0Secondary.mat", "energy0Secondary");

    #endif

    // Decode camera1

    std::vector<cv::Mat> frames1Primary(frames1Rect.begin()+2, frames1Rect.begin()+2+nStepsPrimary);

    std::vector<cv::Mat> frames1Secondary(frames1Rect.begin()+2+nStepsPrimary, frames1Rect.end());

    std::vector<cv::Mat> F1Primary = getDFTComponents(frames1Primary);

    cv::Mat up1Primary;

    cv::phase(F1Primary[2], -F1Primary[3], up1Primary);

    std::vector<cv::Mat> F1Secondary = getDFTComponents(frames1Secondary);

    cv::Mat up1Secondary;

    cv::phase(F1Secondary[2], -F1Secondary[3], up1Secondary);

    cv::Mat up1Equivalent = up1Secondary - up1Primary;

    up1Equivalent = cvtools::modulo(up1Equivalent, 2.0*pi);

    cv::Mat up1 = unwrapWithCue(up1Primary, up1Equivalent, nPeriodsPrimary);

    up1 *= screenCols/(2.0*pi);

    cv::Mat amplitude1;

    cv::magnitude(F1Primary[2], -F1Primary[3], amplitude1);

    // Collected signal energy at higher frequencies

    cv::Mat energy1Primary(frameRectRows, frameRectCols, CV_32F, cv::Scalar(0.0));

    for(unsigned int i=0; i<nStepsPrimary-1; i++){

        cv::Mat magnitude;

        cv::magnitude(F1Primary[i*2 + 2], F1Primary[i*2 + 3], magnitude);

        cv::add(energy1Primary, magnitude, energy1Primary, cv::noArray(), CV_32F);

    }

    cv::Mat energy1Secondary(frameRectRows, frameRectCols, CV_32F, cv::Scalar(0.0));

    for(unsigned int i=0; i<nStepsSecondary-1; i++){

        cv::Mat magnitude;

        cv::magnitude(F1Secondary[i*2 + 2], F1Secondary[i*2 + 3], magnitude);

        cv::add(energy1Secondary, magnitude, energy1Secondary, cv::noArray(), CV_32F);

    }

    #ifdef QT_DEBUG

        cvtools::writeMat(up1, "up1.mat", "up1");

    #endif

    // color debayer and remap

    cv::Mat color0, color1;

    cv::cvtColor(frames0[0], color0, CV_BayerBG2RGB);

    cv::remap(color0, color0, map0X, map0Y, CV_INTER_LINEAR);

    cv::cvtColor(frames1[0], color1, CV_BayerBG2RGB);

    cv::remap(color1, color1, map1X, map1Y, CV_INTER_LINEAR);

    #ifdef QT_DEBUG

        cvtools::writeMat(color0, "color0.mat", "color0");

        cvtools::writeMat(color1, "color1.mat", "color1");

    #endif

    // Occlusion masks

    cv::Mat occlusion0, occlusion1;

    cv::subtract(frames0Rect[0], frames0Rect[1], occlusion0);

    occlusion0 = (occlusion0 > 25) & (occlusion0 < 250);

    cv::subtract(frames1Rect[0], frames1Rect[1], occlusion1);

    occlusion1 = (occlusion1 > 25) & (occlusion1 < 250);

    // Threshold on energy at primary frequency

    occlusion0 = occlusion0 & (amplitude0 > 5.0*nStepsPrimary);

    occlusion1 = occlusion1 & (amplitude1 > 5.0*nStepsPrimary);

    // Threshold on energy ratios

    occlusion0 = occlusion0 & (amplitude0 > 0.85*energy0Primary);

    occlusion0 = occlusion0 & (amplitude0 > 0.85*energy0Secondary);

    occlusion1 = occlusion1 & (amplitude1 > 0.85*energy1Primary);

    occlusion1 = occlusion1 & (amplitude1 > 0.85*energy1Secondary);

//    // Erode occlusion masks

//    cv::Mat strel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(5,5));

//    cv::erode(occlusion0, occlusion0, strel);

//    cv::erode(occlusion1, occlusion1, strel);

    // Threshold on gradient of phase

    cv::Mat edges0;

    cv::Sobel(up0, edges0, -1, 1, 1, 5);

    occlusion0 = occlusion0 & (abs(edges0) < 150);

    cv::Mat edges1;

    cv::Sobel(up1, edges1, -1, 1, 1, 5);

    occlusion1 = occlusion1 & (abs(edges1) < 150);

    #ifdef QT_DEBUG

        cvtools::writeMat(occlusion0, "occlusion0.mat", "occlusion0");

        cvtools::writeMat(occlusion1, "occlusion1.mat", "occlusion1");

    #endif

    // Match phase maps

    // camera0 against camera1

    std::vector<cv::Vec2f> q0, q1;

    for(int row=0; row<frameRectRows; row++){

        for(int col=0; col<frameRectCols; col++){

            if(!occlusion0.at<char>(row,col))

                continue;

            float up0i = up0.at<float>(row,col);

            for(int col1=0; col1<up1.cols-1; col1++){

                if(!occlusion1.at<char>(row,col1) || !occlusion1.at<char>(row,col1+1))

                    continue;

                float up1Left = up1.at<float>(row,col1);

                float up1Right = up1.at<float>(row,col1+1);

                if((up1Left <= up0i) && (up0i <= up1Right) && (up0i-up1Left < 1.0) && (up1Right-up0i < 1.0) && (up1Right-up1Left > 0.1)){

                    float col1i = col1 + (up0i-up1Left)/(up1Right-up1Left);

                    q0.push_back(cv::Point2f(col, row));

                    q1.push_back(cv::Point2f(col1i, row));

                    break;

                }

            }

        }

    }

    int nMatches = q0.size();

    if(nMatches < 1){

        Q.resize(0);

        color.resize(0);

        return;

    }

    // Retrieve color information

    color.resize(nMatches);

    for(int i=0; i<nMatches; i++){

        cv::Vec3b c0 = color0.at<cv::Vec3b>(q0[i][1], q0[i][0]);

        cv::Vec3b c1 = color1.at<cv::Vec3b>(q1[i][1], q1[i][0]);

        color[i] = 0.5*c0 + 0.5*c1;

    }

    // Triangulate points

    cv::Mat QMatHomogenous, QMat;

    cv::triangulatePoints(P0, P1, q0, q1, QMatHomogenous);

    cvtools::convertMatFromHomogeneous(QMatHomogenous, QMat);

    // Undo rectification

    cv::Mat R0Inv;

    cv::Mat(R0.t()).convertTo(R0Inv, CV_32F);

    QMat = R0Inv*QMat;

    cvtools::matToPoints3f(QMat, Q);

}