WebSVN – seema-scanner – Diff – /src/algorithm/AlgorithmPhaseShiftTwoFreq.cpp

 #ifndef M_PI
     #define M_PI 3.14159265358979323846
 #endif
-static unsigned int nSteps = 20; // number of shifts/steps in primary
+static unsigned int nStepsPrimary = 24; // number of shifts/steps in primary
+static unsigned int nStepsSecondary = 12; // number of shifts/steps in secondary
-static float pPrimary = 64; // primary period
+static float periodPrimary = 24; // primary period
 // Algorithm
 static cv::Mat computePhaseVector(unsigned int length, float phase, float pitch){
     cv::Mat phaseVector(length, 1, CV_8UC3);
+}
 AlgorithmPhaseShift::AlgorithmPhaseShift(unsigned int _screenCols, unsigned int _screenRows) : Algorithm(_screenCols, _screenRows){
     // Set N
-    N = 2+2*nSteps;
+    N = 2+nStepsPrimary+nStepsSecondary;
     // Determine the secondary (wider) period
-    float pSecondary = (screenCols*pPrimary)/(screenCols-pPrimary);
+    float pSecondary = (screenCols*periodPrimary)/(screenCols-periodPrimary);
     // all on pattern
     cv::Mat allOn(1, screenCols, CV_8UC3, cv::Scalar::all(255));
     patterns.push_back(allOn);
     // Precompute encoded patterns
     const float pi = M_PI;
     // Primary encoding patterns
-    for(unsigned int i=0; i<nSteps; i++){
+    for(unsigned int i=0; i<nStepsPrimary; i++){
-        float phase = 2.0*pi/nSteps * i;
+        float phase = 2.0*pi/nStepsPrimary * i;
-        float pitch = pPrimary;
+        float pitch = periodPrimary;
         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<nSteps; i++){
+    for(unsigned int i=0; i<nStepsSecondary; i++){
-        float phase = 2.0*pi/nSteps * i;
+        float phase = 2.0*pi/nStepsSecondary * i;
         float pitch = pSecondary;
         cv::Mat patternI(1,1,CV_8U);
         patternI = computePhaseVector(screenCols, phase, pitch);
         patterns.push_back(patternI.t());
+    }
         cv::cvtColor(frames0[i], frames0Gray[i], CV_BayerBG2GRAY);
         cv::cvtColor(frames1[i], frames1Gray[i], CV_BayerBG2GRAY);
+    }
     // Decode camera0
-    std::vector<cv::Mat> frames0Primary(frames0Gray.begin()+2, frames0Gray.begin()+2+nSteps);
+    std::vector<cv::Mat> frames0Primary(frames0Gray.begin()+2, frames0Gray.begin()+2+nStepsPrimary);
-    std::vector<cv::Mat> frames0Secondary(frames0Gray.begin()+2+nSteps, frames0Gray.begin()+2+2*nSteps);
+    std::vector<cv::Mat> frames0Secondary(frames0Gray.begin()+2+nStepsPrimary, frames0Gray.end());
     std::vector<cv::Mat> F0Primary = getDFTComponents(frames0Primary);
     cv::Mat up0Primary;
     cv::phase(F0Primary[2], -F0Primary[3], up0Primary);
     //cv::Mat up0Secondary = getPhase(frames0Secondary[0], frames0Secondary[1], frames0Secondary[2]);
     std::vector<cv::Mat> F0Secondary = getDFTComponents(frames0Secondary);
     cv::Mat up0Secondary;
     cv::phase(F0Secondary[2], -F0Secondary[3], up0Secondary);
     cv::Mat up0Equivalent = up0Primary - up0Secondary;
     up0Equivalent = cvtools::modulo(up0Equivalent, 2*pi);
-    cv::Mat up0 = unwrapWithCue(up0Primary, up0Equivalent, (float)screenCols/pPrimary);
+    cv::Mat up0 = unwrapWithCue(up0Primary, up0Equivalent, (float)screenCols/periodPrimary);
     up0 *= screenCols/(2*pi);
     // Decode camera1
-    std::vector<cv::Mat> frames1Primary(frames1Gray.begin()+2, frames1Gray.begin()+2+nSteps);
+    std::vector<cv::Mat> frames1Primary(frames1Gray.begin()+2, frames1Gray.begin()+2+nStepsPrimary);
-    std::vector<cv::Mat> frames1Secondary(frames1Gray.begin()+2+nSteps, frames1Gray.begin()+2+2*nSteps);
+    std::vector<cv::Mat> frames1Secondary(frames1Gray.begin()+2+nStepsPrimary, frames1Gray.end());
     std::vector<cv::Mat> F1Primary = getDFTComponents(frames1Primary);
     cv::Mat up1Primary;
     cv::phase(F1Primary[2], -F1Primary[3], up1Primary);
     //cv::Mat up1Secondary = getPhase(frames1Secondary[0], frames1Secondary[1], frames1Secondary[2]);
     std::vector<cv::Mat> F1Secondary = getDFTComponents(frames1Secondary);
     cv::Mat up1Secondary;
     cv::phase(F1Secondary[2], -F1Secondary[3], up1Secondary);
     cv::Mat up1Equivalent = up1Primary - up1Secondary;
     up1Equivalent = cvtools::modulo(up1Equivalent, 2*pi);
-    cv::Mat up1 = unwrapWithCue(up1Primary, up1Equivalent, (float)screenCols/pPrimary);
+    cv::Mat up1 = unwrapWithCue(up1Primary, up1Equivalent, (float)screenCols/periodPrimary);
     up1 *= screenCols/(2*pi);
     // Rectifying homographies (rotation+projections)
     cv::Size frameSize(frameCols, frameRows);
     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);
     // Phase remaps
     cv::Mat up0Rect, up1Rect;
-    cv::remap(up0, up0Rect, map0X, map0Y, CV_INTER_CUBIC);
+    cv::remap(up0, up0Rect, map0X, map0Y, CV_INTER_LINEAR);
-    cv::remap(up1, up1Rect, map1X, map1Y, CV_INTER_CUBIC);
+    cv::remap(up1, up1Rect, map1X, map1Y, CV_INTER_LINEAR);
 //cvtools::writeMat(up0Rect, "up0Rect.mat", "up0Rect");
 //cvtools::writeMat(up1Rect, "up1Rect.mat", "up1Rect");
-    // Color debayer and remaps
+    // color debayer and remap
-    cv::Mat temp;
     cv::Mat color0Rect, color1Rect;
+    frames0[0].convertTo(color0Rect, CV_8UC1, 1.0/256.0);
-    cv::cvtColor(frames0[0], temp, CV_BayerBG2RGB);
+    cv::cvtColor(color0Rect, color0Rect, CV_BayerBG2RGB);
-    cv::remap(temp, color0Rect, map0X, map0Y, CV_INTER_CUBIC);
+    cv::remap(color0Rect, color0Rect, map0X, map0Y, CV_INTER_LINEAR);
+    frames1[0].convertTo(color1Rect, CV_8UC1, 1.0/256.0);
-    cv::cvtColor(frames1[0], temp, CV_BayerBG2RGB);
+    cv::cvtColor(color1Rect, color1Rect, CV_BayerBG2RGB);
-    cv::remap(temp, color1Rect, map1X, map1Y, CV_INTER_CUBIC);
+    cv::remap(color1Rect, color1Rect, map1X, map1Y, CV_INTER_LINEAR);
+//cvtools::writeMat(frames0Rect[18], "frames0Rect_18.mat", "frames0Rect_18");
+//cvtools::writeMat(frames0Rect[19], "frames0Rect_19.mat", "frames0Rect_19");
 //cvtools::writeMat(color0Rect, "color0Rect.mat", "color0Rect");
 //cvtools::writeMat(color1Rect, "color1Rect.mat", "color1Rect");
     // On/off remaps
     cv::Mat frames0OnRect, frames0OffRect;
-    cv::remap(frames0Gray[0], frames0OnRect, map0X, map0Y, CV_INTER_CUBIC);
+    cv::remap(frames0Gray[0], frames0OnRect, map0X, map0Y, CV_INTER_LINEAR);
-    cv::remap(frames0Gray[1], frames0OffRect, map0X, map0Y, CV_INTER_CUBIC);
+    cv::remap(frames0Gray[1], frames0OffRect, map0X, map0Y, CV_INTER_LINEAR);
     cv::Mat frames1OnRect, frames1OffRect;
-    cv::remap(frames1Gray[0], frames1OnRect, map1X, map1Y, CV_INTER_CUBIC);
+    cv::remap(frames1Gray[0], frames1OnRect, map1X, map1Y, CV_INTER_LINEAR);
-    cv::remap(frames1Gray[1], frames1OffRect, map1X, map1Y, CV_INTER_CUBIC);
+    cv::remap(frames1Gray[1], frames1OffRect, map1X, map1Y, CV_INTER_LINEAR);
     // Occlusion masks
     cv::Mat occlusion0Rect, occlusion1Rect;
     cv::subtract(frames0OnRect, frames0OffRect, occlusion0Rect);
-    occlusion0Rect = occlusion0Rect > 10;
+    occlusion0Rect = (occlusion0Rect > 6400) & (occlusion0Rect < 50000);
     cv::subtract(frames1OnRect, frames1OffRect, occlusion1Rect);
-    occlusion1Rect = occlusion1Rect > 10;
+    occlusion1Rect = (occlusion1Rect > 6400) & (occlusion1Rect < 50000);
 //cvtools::writeMat(occlusion0Rect, "occlusion0Rect.mat", "occlusion0Rect");
 //cvtools::writeMat(occlusion1Rect, "occlusion1Rect.mat", "occlusion1Rect");
     // Erode occlusion masks

Subversion Repositories seema-scanner

(root)/src/algorithm/AlgorithmPhaseShiftTwoFreq.cpp @ 257 – Rev 113 → 118