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#include <math.h>
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#include <math.h>
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#include "cvtools.h"
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#include "cvtools.h"
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#include "algorithmtools.h"
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#include "algorithmtools.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 nStepsPrimary = 16; // number of shifts/steps in primary
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static unsigned int nStepsPrimary = 16; // number of shifts/steps in primary
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static unsigned int nStepsSecondary = 8; // number of shifts/steps in secondary
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static unsigned int nStepsSecondary = 8; // number of shifts/steps in secondary
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static float nPeriodsPrimary = 40; // primary period
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static float nPeriodsPrimary = 40; // primary period
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AlgorithmPhaseShiftTwoFreq::AlgorithmPhaseShiftTwoFreq(unsigned int _screenCols, unsigned int _screenRows) : Algorithm(_screenCols, _screenRows){
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AlgorithmPhaseShiftTwoFreq::AlgorithmPhaseShiftTwoFreq(unsigned int _screenCols, unsigned int _screenRows) : Algorithm(_screenCols, _screenRows){
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// all off pattern
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// all off pattern
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cv::Mat allOff(1, screenCols, CV_8UC3, cv::Scalar::all(0));
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cv::Mat allOff(1, screenCols, CV_8UC3, cv::Scalar::all(0));
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patterns.push_back(allOff);
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patterns.push_back(allOff);
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// Precompute encoded patterns
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const float pi = M_PI;
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// Primary encoding patterns
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// Primary encoding patterns
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for(unsigned int i=0; i<nStepsPrimary; i++){
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for(unsigned int i=0; i<nStepsPrimary; i++){
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float phase = 2.0*pi/nStepsPrimary * i;
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float phase = 2.0*CV_PI/nStepsPrimary * i;
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float pitch = screenCols/nPeriodsPrimary;
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float pitch = screenCols/nPeriodsPrimary;
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cv::Mat patternI(1,1,CV_8U);
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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 = computePhaseVector(screenCols, phase, pitch);
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patterns.push_back(patternI.t());
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patterns.push_back(patternI.t());
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}
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}
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// Secondary encoding patterns
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// Secondary encoding patterns
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for(unsigned int i=0; i<nStepsSecondary; i++){
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for(unsigned int i=0; i<nStepsSecondary; i++){
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float phase = 2.0*pi/nStepsSecondary * i;
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float phase = 2.0*CV_PI/nStepsSecondary * i;
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float pitch = screenCols/nPeriodsSecondary;
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float pitch = screenCols/nPeriodsSecondary;
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cv::Mat patternI(1,1,CV_8U);
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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 = computePhaseVector(screenCols, phase, pitch);
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patterns.push_back(patternI.t());
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patterns.push_back(patternI.t());
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}
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}
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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 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){
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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){
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const float pi = M_PI;
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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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int frameCols = frames0[0].cols;
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int frameCols = frames0[0].cols;
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std::vector<cv::Mat> F0Secondary = getDFTComponents(frames0Secondary);
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std::vector<cv::Mat> F0Secondary = getDFTComponents(frames0Secondary);
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cv::Mat up0Secondary;
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cv::Mat up0Secondary;
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cv::phase(F0Secondary[2], -F0Secondary[3], up0Secondary);
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cv::phase(F0Secondary[2], -F0Secondary[3], up0Secondary);
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cv::Mat up0Equivalent = up0Secondary - up0Primary;
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cv::Mat up0Equivalent = up0Secondary - up0Primary;
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up0Equivalent = cvtools::modulo(up0Equivalent, 2.0*pi);
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up0Equivalent = cvtools::modulo(up0Equivalent, 2.0*CV_PI);
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cv::Mat up0 = unwrapWithCue(up0Primary, up0Equivalent, nPeriodsPrimary);
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cv::Mat up0 = unwrapWithCue(up0Primary, up0Equivalent, nPeriodsPrimary);
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up0 *= screenCols/(2.0*pi);
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up0 *= screenCols/(2.0*CV_PI);
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cv::Mat amplitude0;
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cv::Mat amplitude0;
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cv::magnitude(F0Primary[2], -F0Primary[3], amplitude0);
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cv::magnitude(F0Primary[2], -F0Primary[3], amplitude0);
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// Collected signal energy at higher frequencies
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// Collected signal energy at higher frequencies
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cv::Mat energy0Primary(frameRectRows, frameRectCols, CV_32F, cv::Scalar(0.0));
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cv::Mat energy0Primary(frameRectRows, frameRectCols, CV_32F, cv::Scalar(0.0));
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std::vector<cv::Mat> F1Secondary = getDFTComponents(frames1Secondary);
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std::vector<cv::Mat> F1Secondary = getDFTComponents(frames1Secondary);
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cv::Mat up1Secondary;
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cv::Mat up1Secondary;
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cv::phase(F1Secondary[2], -F1Secondary[3], up1Secondary);
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cv::phase(F1Secondary[2], -F1Secondary[3], up1Secondary);
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cv::Mat up1Equivalent = up1Secondary - up1Primary;
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cv::Mat up1Equivalent = up1Secondary - up1Primary;
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up1Equivalent = cvtools::modulo(up1Equivalent, 2.0*pi);
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up1Equivalent = cvtools::modulo(up1Equivalent, 2.0*CV_PI);
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cv::Mat up1 = unwrapWithCue(up1Primary, up1Equivalent, nPeriodsPrimary);
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cv::Mat up1 = unwrapWithCue(up1Primary, up1Equivalent, nPeriodsPrimary);
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up1 *= screenCols/(2.0*pi);
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up1 *= screenCols/(2.0*CV_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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// Collected signal energy at higher frequencies
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// Collected signal energy at higher frequencies
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cv::Mat energy1Primary(frameRectRows, frameRectCols, CV_32F, cv::Scalar(0.0));
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cv::Mat energy1Primary(frameRectRows, frameRectCols, CV_32F, cv::Scalar(0.0));
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