| 41 |
jakw |
1 |
#include "AlgorithmPhaseShift.h"
|
| 4 |
jakw |
2 |
#include <math.h>
|
|
|
3 |
|
|
|
4 |
#include "cvtools.h"
|
|
|
5 |
|
|
|
6 |
#ifndef M_PI
|
|
|
7 |
#define M_PI 3.14159265358979323846
|
|
|
8 |
#endif
|
|
|
9 |
|
|
|
10 |
static unsigned int nPhases = 8;
|
|
|
11 |
|
| 41 |
jakw |
12 |
// Algorithm
|
| 4 |
jakw |
13 |
static cv::Mat computePhaseVector(unsigned int length, float phase, float pitch){
|
|
|
14 |
|
|
|
15 |
cv::Mat phaseVector(length, 1, CV_8UC3);
|
|
|
16 |
//phaseVector.setTo(0);
|
|
|
17 |
|
|
|
18 |
const float pi = M_PI;
|
|
|
19 |
|
|
|
20 |
// Loop through vector
|
|
|
21 |
for(int i=0; i<phaseVector.rows; i++){
|
|
|
22 |
// Amplitude of channels
|
|
|
23 |
float amp = 0.5*(1+cos(2*pi*i/pitch + phase));
|
|
|
24 |
phaseVector.at<cv::Vec3b>(i, 0) = cv::Vec3b(255.0*amp,255.0*amp,255.0*amp);
|
|
|
25 |
}
|
|
|
26 |
|
|
|
27 |
return phaseVector;
|
|
|
28 |
}
|
|
|
29 |
|
| 41 |
jakw |
30 |
AlgorithmPhaseShift::AlgorithmPhaseShift(unsigned int _screenCols, unsigned int _screenRows, CodingDir _dir) : Algorithm(_screenCols, _screenRows, _dir){
|
| 4 |
jakw |
31 |
|
|
|
32 |
// Set N
|
| 41 |
jakw |
33 |
if(dir == CodingDirBoth)
|
| 4 |
jakw |
34 |
this->N = 12;
|
|
|
35 |
else
|
|
|
36 |
this->N = 6;
|
|
|
37 |
|
|
|
38 |
// Precompute encoded patterns
|
|
|
39 |
const float pi = M_PI;
|
|
|
40 |
|
| 41 |
jakw |
41 |
if(dir & CodingDirHorizontal){
|
| 4 |
jakw |
42 |
// Horizontally encoding patterns
|
|
|
43 |
for(unsigned int i=0; i<3; i++){
|
|
|
44 |
float phase = 2.0*pi/3.0 * (1.0 - (float)i);
|
|
|
45 |
float pitch = (float)screenCols/(float)nPhases;
|
|
|
46 |
cv::Mat patternI(1,1,CV_8U);
|
|
|
47 |
patternI = computePhaseVector(screenCols, phase, pitch);
|
|
|
48 |
patternI = patternI.t();
|
|
|
49 |
patterns.push_back(patternI);
|
|
|
50 |
}
|
|
|
51 |
|
|
|
52 |
// Phase cue patterns
|
|
|
53 |
for(unsigned int i=0; i<3; i++){
|
|
|
54 |
float phase = 2.0*pi/3.0 * (1.0 - (float)i);
|
|
|
55 |
float pitch = screenCols;
|
|
|
56 |
cv::Mat patternI;
|
|
|
57 |
patternI = computePhaseVector(screenCols, phase, pitch);
|
|
|
58 |
patternI = patternI.t();
|
|
|
59 |
patterns.push_back(patternI);
|
|
|
60 |
}
|
|
|
61 |
}
|
| 41 |
jakw |
62 |
if(dir & CodingDirVertical){
|
| 4 |
jakw |
63 |
// Precompute vertically encoding patterns
|
|
|
64 |
for(unsigned int i=0; i<3; i++){
|
|
|
65 |
float phase = 2.0*pi/3.0 * (1.0 - (float)i);
|
|
|
66 |
float pitch = (float)screenRows/(float)nPhases;
|
|
|
67 |
cv::Mat patternI;
|
|
|
68 |
patternI = computePhaseVector(screenRows, phase, pitch);
|
|
|
69 |
patterns.push_back(patternI);
|
|
|
70 |
}
|
|
|
71 |
|
|
|
72 |
// Precompute vertically phase cue patterns
|
|
|
73 |
for(unsigned int i=0; i<3; i++){
|
|
|
74 |
float phase = 2.0*pi/3.0 * (1.0 - (float)i);
|
|
|
75 |
float pitch = screenRows;
|
|
|
76 |
cv::Mat patternI;
|
|
|
77 |
patternI = computePhaseVector(screenRows, phase, pitch);
|
|
|
78 |
patterns.push_back(patternI);
|
|
|
79 |
}
|
|
|
80 |
}
|
|
|
81 |
}
|
|
|
82 |
|
| 41 |
jakw |
83 |
cv::Mat AlgorithmPhaseShift::getEncodingPattern(unsigned int depth){
|
| 4 |
jakw |
84 |
return patterns[depth];
|
|
|
85 |
}
|
|
|
86 |
|
|
|
87 |
|
|
|
88 |
static cv::Mat absolutePhase(cv::Mat _I1, cv::Mat _I2, cv::Mat _I3){
|
|
|
89 |
|
|
|
90 |
const float pi = M_PI;
|
|
|
91 |
|
|
|
92 |
// Mat_ wrapper for easier indexing
|
|
|
93 |
cv::Mat_<float> I1(_I1);
|
|
|
94 |
cv::Mat_<float> I2(_I2);
|
|
|
95 |
cv::Mat_<float> I3(_I3);
|
|
|
96 |
|
|
|
97 |
cv::Mat absPhase(I1.size(), CV_32F);
|
|
|
98 |
|
|
|
99 |
for(int i = 0; i < absPhase.rows; i++){
|
|
|
100 |
for(int j = 0; j < absPhase.cols; j++){
|
|
|
101 |
float phase = atan2(sqrt(3.0) * (I1(i,j)-I3(i,j)), I1(i,j) + I3(i,j) - 2.0*I2(i,j)) + pi;
|
|
|
102 |
absPhase.at<float>(i,j) = phase;
|
|
|
103 |
}
|
|
|
104 |
}
|
|
|
105 |
|
|
|
106 |
//absPhase.addref();
|
|
|
107 |
return absPhase;
|
|
|
108 |
}
|
|
|
109 |
|
| 41 |
jakw |
110 |
void AlgorithmPhaseShift::getCorrespondences(SMCalibrationParameters calibration, const std::vector<cv::Mat>& frames0, const std::vector<cv::Mat>& frames1, std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f>& color){
|
| 4 |
jakw |
111 |
|
|
|
112 |
}
|