Subversion Repositories seema-scanner

static unsigned int nSteps = 8;

    // 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);

// Absolute phase from 3 frames

    cv::Mat_<float> I1_(I1);

    cv::Mat_<float> I2_(I2);

    cv::Mat_<float> I3_(I3);

    cv::Mat phase;

    // One call approach

    cv::phase(2.0*I1_-I3_-I2_, sqrt(3.0)*(I2_-I3_), phase);

    return phase;

}

// Phase unwrapping by means of a phase cue

cv::Mat unwrapWithCue(const cv::Mat up, const cv::Mat upCue, unsigned int nPhases){

    // Round to integers

    // Add to phase

    // Scale to range [0; 2pi]

    return upUnwrapped;

}

    unsigned int N = frames.size();

    std::reverse(framesReverse.begin(), framesReverse.end());

    // DFT approach

    cv::merge(frames, I);

    unsigned int w = I.cols;

    unsigned int h = I.rows;

    I = I.reshape(1, h*w);

    I.convertTo(I, CV_32F);

    cv::dft(I, fI, cv::DFT_ROWS + cv::DFT_COMPLEX_OUTPUT);

    fI = fI.reshape(N*2, h);

    std::vector<cv::Mat> fIcomp;

    cv::split(fI, fIcomp);

    return fIcomp;

    const float pi = M_PI;

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

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

    int frameRows = frames0[0].rows;

    int frameCols = frames0[0].cols;

    // Gray-scale

    std::vector<cv::Mat> frames0Gray(N);

    std::vector<cv::Mat> frames1Gray(N);

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

        cv::cvtColor(frames0[i], frames0Gray[i], CV_RGB2GRAY);

        cv::cvtColor(frames1[i], frames1Gray[i], CV_RGB2GRAY);

    }

    // Decode camera0

    std::vector<cv::Mat> frames0Enc(frames0Gray.begin()+2, frames0Gray.begin()+2+nSteps);

    std::vector<cv::Mat> frames0Cue(frames0Gray.begin()+2+nSteps, frames0Gray.begin()+nSteps+2+nSteps+3);

    std::vector<cv::Mat> f0Icomp = getDFTComponents(frames0Enc);

    cv::Mat up0;

    cv::phase(f0Icomp[2], -f0Icomp[3], up0);

    cv::Mat up0Cue = getPhase(frames0Cue[0], frames0Cue[1], frames0Cue[2]);

    up0 = unwrapWithCue(up0, up0Cue, nPhases);

    up0 *= screenCols/(2*pi);

    // Decode camera1

    std::vector<cv::Mat> frames1Enc(frames1Gray.begin()+2, frames1Gray.begin()+2+nSteps);

    std::vector<cv::Mat> frames1Cue(frames1Gray.begin()+2+nSteps, frames1Gray.begin()+nSteps+2+nSteps+3);

    std::vector<cv::Mat> f1Icomp = getDFTComponents(frames1Enc);

    cv::Mat up1;

    cv::phase(f1Icomp[2], -f1Icomp[3], up1);

    cv::Mat up1Cue = getPhase(frames1Cue[0], frames1Cue[1], frames1Cue[2]);

    up1 = unwrapWithCue(up1, up1Cue, nPhases);

    up1 *= screenCols/(2*pi);

    // 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);

    // Phase remaps

    cv::Mat up0Rect, up1Rect;

    cv::remap(up0, up0Rect, map0X, map0Y, CV_INTER_CUBIC);

    cv::remap(up1, up1Rect, map1X, map1Y, CV_INTER_CUBIC);

    // Color remaps

    cv::Mat color0Rect, color1Rect;

    cv::remap(frames0[0], color0Rect, map0X, map0Y, CV_INTER_CUBIC);

    cv::remap(frames1[0], color1Rect, map1X, map1Y, CV_INTER_CUBIC);

    // On/off remaps

    cv::Mat frames0OnRect, frames0OffRect;

    cv::remap(frames0Gray[0], frames0OnRect, map0X, map0Y, CV_INTER_CUBIC);

    cv::remap(frames0Gray[1], frames0OffRect, map0X, map0Y, CV_INTER_CUBIC);

    cv::Mat frames1OnRect, frames1OffRect;

    cv::remap(frames1Gray[0], frames1OnRect, map0X, map0Y, CV_INTER_CUBIC);

    cv::remap(frames1Gray[1], frames1OffRect, map0X, map0Y, CV_INTER_CUBIC);

    // Occlusion masks

    cv::Mat occlusion0Rect, occlusion1Rect;

    cv::subtract(frames0OnRect, frames0OffRect, occlusion0Rect);

    occlusion0Rect = occlusion0Rect > 50;

    cv::subtract(frames1OnRect, frames1OffRect, occlusion1Rect);

    occlusion1Rect = occlusion1Rect > 50;

    // Erode occlusion masks

    cv::Mat strel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(3,3));

    cv::erode(occlusion0Rect, occlusion0Rect, strel);

    cv::erode(occlusion1Rect, occlusion1Rect, strel);

    // Match phase maps

    int frameRectRows = map0X.rows;

    int frameRectCols = map0X.cols;

    // camera0 against camera1

    std::vector<cv::Vec2f> q0Rect, q1Rect;

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

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

            if(!occlusion0Rect.at<char>(row,col))

                continue;

            float up0i = up0Rect.at<float>(row,col);

            for(int col1=0; col1<up1Rect.cols-1; col1++){

                if(!occlusion1Rect.at<char>(row,col1) || !occlusion1Rect.at<char>(row,col1+1))

                    continue;

                float up1Left = up1Rect.at<float>(row,col1);

                float up1Right = up1Rect.at<float>(row,col1+1);

                if((up1Left <= up0i) && (up0i <= up1Right)){

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

                    q0Rect.push_back(cv::Point2f(col, row));

                    q1Rect.push_back(cv::Point2f(col1i, row));

                }

            }

        }

    }

    // camera1 against camera0

    //[...]

    int nMatches = q0Rect.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 = color0Rect.at<cv::Vec3b>(q0Rect[i][1], q0Rect[i][0]);

        cv::Vec3b c1 = color1Rect.at<cv::Vec3b>(q1Rect[i][1], q1Rect[i][0]);

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

    }

    // Triangulate points

    cv::Mat QMatHomogenous, QMat;

    cv::triangulatePoints(P0, P1, q0Rect, q1Rect, 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);