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#include "AlgorithmPhaseShift.h"
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#include <math.h>
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#include "cvtools.h"
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#ifndef M_PI
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#define M_PI 3.14159265358979323846
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#endif
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static unsigned int nPhases = 8;
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// Algorithm
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static cv::Mat computePhaseVector(unsigned int length, float phase, float pitch){
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cv::Mat phaseVector(length, 1, CV_8UC3);
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//phaseVector.setTo(0);
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const float pi = M_PI;
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// Loop through vector
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for(int i=0; i<phaseVector.rows; i++){
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// Amplitude of channels
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float amp = 0.5*(1+cos(2*pi*i/pitch + phase));
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phaseVector.at<cv::Vec3b>(i, 0) = cv::Vec3b(255.0*amp,255.0*amp,255.0*amp);
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}
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return phaseVector;
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}
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AlgorithmPhaseShift::AlgorithmPhaseShift(unsigned int _screenCols, unsigned int _screenRows, CodingDir _dir) : Algorithm(_screenCols, _screenRows, _dir){
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// Set N
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if(dir == CodingDirBoth)
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this->N = 12;
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else
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this->N = 6;
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// Precompute encoded patterns
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const float pi = M_PI;
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if(dir & CodingDirHorizontal){
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// Horizontally encoding patterns
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for(unsigned int i=0; i<3; i++){
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float phase = 2.0*pi/3.0 * (1.0 - (float)i);
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float pitch = (float)screenCols/(float)nPhases;
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cv::Mat patternI(1,1,CV_8U);
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patternI = computePhaseVector(screenCols, phase, pitch);
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patternI = patternI.t();
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patterns.push_back(patternI);
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}
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// Phase cue patterns
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for(unsigned int i=0; i<3; i++){
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float phase = 2.0*pi/3.0 * (1.0 - (float)i);
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float pitch = screenCols;
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cv::Mat patternI;
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patternI = computePhaseVector(screenCols, phase, pitch);
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patternI = patternI.t();
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patterns.push_back(patternI);
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}
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}
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if(dir & CodingDirVertical){
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// Precompute vertically encoding patterns
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for(unsigned int i=0; i<3; i++){
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float phase = 2.0*pi/3.0 * (1.0 - (float)i);
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float pitch = (float)screenRows/(float)nPhases;
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cv::Mat patternI;
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patternI = computePhaseVector(screenRows, phase, pitch);
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patterns.push_back(patternI);
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}
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// Precompute vertically phase cue patterns
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for(unsigned int i=0; i<3; i++){
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float phase = 2.0*pi/3.0 * (1.0 - (float)i);
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float pitch = screenRows;
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cv::Mat patternI;
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patternI = computePhaseVector(screenRows, phase, pitch);
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patterns.push_back(patternI);
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}
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}
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}
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cv::Mat AlgorithmPhaseShift::getEncodingPattern(unsigned int depth){
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return patterns[depth];
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}
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static cv::Mat absolutePhase(cv::Mat _I1, cv::Mat _I2, cv::Mat _I3){
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const float pi = M_PI;
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// Mat_ wrapper for easier indexing
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cv::Mat_<float> I1(_I1);
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cv::Mat_<float> I2(_I2);
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cv::Mat_<float> I3(_I3);
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cv::Mat absPhase(I1.size(), CV_32F);
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for(int i = 0; i < absPhase.rows; i++){
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for(int j = 0; j < absPhase.cols; j++){
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float phase = atan2(sqrt(3.0) * (I1(i,j)-I3(i,j)), I1(i,j) + I3(i,j) - 2.0*I2(i,j)) + pi;
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absPhase.at<float>(i,j) = phase;
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}
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}
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//absPhase.addref();
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return absPhase;
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}
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void AlgorithmPhaseShift::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){
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}
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