void warp3(float ***slice /* [nx][ny][nt] input */,
float ***coord1 /* [nx][ny][nt] coordinates */,
float ***coord2 /* [nx][ny][nt] coordinates */,
float ***coord3 /* [nx][ny][nt] coordinates */,
float ***slice2 /* [n3][n2][n1] output */)
/*< apply warping >*/
{
int i1, i2, i3;
for (i3=0; i3 < nx; i3++) {
for (i2=0; i2 < ny; i2++) {
stretch4_define (map1,coord1[i3][i2]);
stretch4_apply (false,map1,slice[i3][i2],trace1);
for (i1=0; i1 < n1; i1++) {
slice1[i1][i3][i2] = trace1[i1];
}
stretch4_apply (false,map1,coord2[i3][i2],trace1);
for (i1=0; i1 < n1; i1++) {
str2[i1][i3][i2] = trace1[i1];
}
stretch4_apply (false,map1,coord3[i3][i2],trace1);
for (i1=0; i1 < n1; i1++) {
str3[i1][i3][i2] = trace1[i1];
}
}
}
for (i1=0; i1 < n1; i1++) {
warp2(slice1[i1],str2[i1],str3[i1],trace2);
for (i3=0; i3 < n3; i3++) {
for (i2=0; i2 < n2; i2++) {
slice2[i3][i2][i1] = trace2[i3][i2];
}
}
}
}
int main (int argc, char* argv[])
{
bool half, mzo;
int it,ix,ih, nt,nx, nh, CDPtype, ntx;
float dt, t0, h, h0, t, tm, tp, tx, tq, dh, dx, x0, x;
float *px, *ph, **xstr, **tstr, **slice, **img, eps;
sf_file cmp, mig, xdip, hdip;
sf_init (argc,argv);
cmp = sf_input("in");
xdip = sf_input("xdip");
hdip = sf_input("hdip");
mig = sf_output("out");
if (SF_FLOAT != sf_gettype(cmp)) sf_error("Need float input");
if (!sf_histint(cmp,"n1",&nt)) sf_error("No n1= in input");
if (!sf_histfloat(cmp,"d1",&dt)) sf_error("No d1= in input");
if (!sf_histfloat(cmp,"o1",&t0)) sf_error("No o1= in input");
if (!sf_histint(cmp,"n3",&nh)) sf_error("No n3= in input");
if (!sf_histfloat(cmp,"d3",&dh)) sf_error("No d3= in input");
if (!sf_histfloat(cmp,"o3",&h0)) sf_error("No o3= in input");
if (!sf_histint(cmp,"n2",&nx)) sf_error("No n2= in input");
if (!sf_histfloat(cmp,"d2",&dx)) sf_error("No d2= in input");
if (!sf_histfloat(cmp,"o2",&x0)) sf_error("No o2= in input");
if (!sf_getbool("half",&half)) half=true;
/* if y, the second axis is half-offset instead of full offset */
if (!half) {
dh *= 0.5;
h0 *= 0.5;
}
CDPtype=0.5+dh/dx;
if (1 != CDPtype) sf_histint(cmp,"CDPtype",&CDPtype);
sf_warning("CDPtype=%d",CDPtype);
ntx = nt*nx;
px = sf_floatalloc(nt);
ph = sf_floatalloc(nt);
tstr = sf_floatalloc2(nt,nx);
xstr = sf_floatalloc2(nt,nx);
slice = sf_floatalloc2(nt,nx);
img = sf_floatalloc2(nt,nx);
if (!sf_getbool("mzo",&mzo)) mzo=false;
/* do migration to zero offset */
if (!sf_getfloat("eps",&eps)) eps=1.0;
/* stretch regularization */
warp2_init (nt, t0, dt,
nx, x0, dx,
nt, nx, eps);
for (ih = 0; ih < nh; ih++) {
sf_floatread (slice[0], ntx, cmp);
for (ix = 0; ix < nx; ix++) {
x = x0 + ix*dx;
h = h0 + (ih+0.5)*dh + (dh/CDPtype)*(ix%CDPtype);
sf_floatread (px, nt, xdip);
sf_floatread (ph, nt, hdip);
for (it=0; it < nt; it++) {
t = t0 + it*dt;
tm = t - ph[it]*h*dt/dh;
tx = h*px[it]*dt/dx;
tp = tm*ph[it] + px[it]*tx*dh/dx;
tq = tm*tm-tx*tx;
if (mzo) {
tstr[ix][it] =
sqrtf(fabsf(t*tq*tq)/
(fabsf(tm*tm*tm)+SF_EPS));
xstr[ix][it] = x - h*tx/(tm+SF_EPS);
} else {
tstr[ix][it] =
sqrtf(fabsf(t*ph[it]*tq*tq)/
(fabsf(tm*tm*tp)+SF_EPS));
xstr[ix][it] = x - t*h*px[it]/(tp+SF_EPS);
}
}
}
warp2(slice,tstr,xstr,img);
sf_floatwrite (img[0],ntx,mig);
}
exit (0);
}
int main(int argc, char* argv[])
{
int n=pow(2,GC_FRAMES);
int *codes=new int[n];
struct termios options;
pthread_t get_result_thread;
void * thread_ret;
if(argc<3){
printf("usage:\n\t%s <dev_file> <baud rate>\n",argv[0]);
return -1;
}
printf("Selected baud rate is %ld\n",atol(argv[2]));
int fd=open_port(argv[1]);
if(fd==-1){
return -1;
}
tcgetattr(fd, &options);
//Set the baud rate
switch(atol(argv[2])){
case 9600:
cfsetispeed(&options, B9600);
cfsetospeed(&options, B9600);
break;
case 19200:
cfsetispeed(&options, B19200);
cfsetospeed(&options, B19200);
break;
case 38400:
cfsetispeed(&options, B38400);
cfsetospeed(&options, B38400);
break;
case 57600:
cfsetispeed(&options, B57600);
cfsetospeed(&options, B57600);
break;
case 115200:
cfsetispeed(&options, B115200);
cfsetospeed(&options, B115200);
break;
case 230400:
cfsetispeed(&options, B230400);
cfsetospeed(&options, B230400);
break;
default:
printf("Selected baud rate %ld is not support now!\n", atol(argv[2]));
close(fd);
return -1;
}
//Enable the receiver and set local mode...
options.c_cflag |= (CLOCAL | CREAD);
options.c_cflag &= ~CSIZE; /* Mask the character size bits */
options.c_cflag |= CS8; /* Select 8 data bits */
//No parity
options.c_cflag &= ~PARENB;
options.c_cflag &= ~CSTOPB;
//Set the new options for the port...
tcsetattr(fd, TCSANOW, &options);
GCTHREAD_FUNC gc_func=get_result;
pthread_create( &get_result_thread, NULL, gc_func, (void*)&fd);
//------------------------------------------------------------------------
generate_graycode(GC_FRAMES,codes);
cv::Scalar color;
cv::namedWindow(window_name);
// 移动到第二个屏幕上（第一个屏幕的大小是2560x1440)
cv::moveWindow(window_name,DESKTOP_WIDTH,0);
// 全屏显示窗口。事实上未必会全屏，但至少可以去掉标题栏部分
cv::setWindowProperty(window_name, cv::WND_PROP_FULLSCREEN, cv::WINDOW_FULLSCREEN);
// show an image
cv::Mat mengnalisha=cv::imread("mengnalisha.png");
cv::imshow(window_name, mengnalisha);
cv::waitKey(0);
for(int i=0; i<GC_FRAMES; i++){
gcImgH[i].create(PROJ_HEIGHT,PROJ_WIDTH,CV_8UC3);
for(int c=0; c<n; c++){
int delta_c=PROJ_WIDTH/n;
int b=(codes[c]>>(GC_FRAMES-1-i)) & 0x01;
if(!b) color=cv::Scalar(0,0,0);
else color=cv::Scalar(255,255,255);
cv::rectangle(gcImgH[i], cv::Point(c*delta_c,0), cv::Point((c+1)*delta_c,PROJ_HEIGHT-1), color, cv::FILLED);
}
gcImgV[i].create(PROJ_HEIGHT,PROJ_WIDTH,CV_8UC3);
for(int r=0; r<n; r++){
int delta_r=PROJ_HEIGHT/n;
int b=(codes[r]>>(GC_FRAMES-1-i)) & 0x01;
if(!b) color=cv::Scalar(0,0,0);
else color=cv::Scalar(255,255,255);
cv::rectangle(gcImgV[i], cv::Point(0,r*delta_r), cv::Point(PROJ_WIDTH-1, (r+1)*delta_r), color, cv::FILLED);
}
// 保存两种格雷码结构图
/*
char fname[32];
snprintf(fname,32,"gcImgV%02d.png", i);
std::cout<<fname<<std::endl;
cv::imwrite(fname, gcImgV[i]);
snprintf(fname,32,"gcImgH%02d.png", i);
std::cout<<fname<<std::endl;
cv::imwrite(fname, gcImgH[i]);
*/
}
cv::Mat black(cv::Size(PROJ_WIDTH,PROJ_HEIGHT), CV_8UC3, cv::Scalar(0,0,0));
cv::Mat white(cv::Size(PROJ_WIDTH,PROJ_HEIGHT), CV_8UC3, cv::Scalar(255,255,255));
// 标定亮暗水平
std::cout<<"Prepare step: begin to detect light level, wait for some seconds..."<<std::endl;
char wbuf[1];
wbuf[0]=CALIB_L;
n=write(fd,wbuf, 1);
if(n!=1){
std::cout<<"Write ttyUSB error!"<<std::endl;
}
cv::imshow(window_name, white);
cv::waitKey(500);
std::cout<<"Prepare step: begin to detect dark level, wait for some seconds..."<<std::endl;
wbuf[0]=CALIB_D;
n=write(fd,wbuf, 1);
if(n!=1){
std::cout<<"Write ttyUSB error!"<<std::endl;
}
cv::imshow(window_name, black);
cv::waitKey(500);
if((!board1_exist) && !(board2_exist)){
std::cout<<"No projecting board found!"<<std::endl;
return -1;
}
if(board1_exist){
while(x_current_pass[0]<COORDS_MULTIPASS){
calib_X(fd);
}
while(y_current_pass[0]<COORDS_MULTIPASS){
calib_Y(fd);
}
}
if(board2_exist){
while(x_current_pass[1]<COORDS_MULTIPASS){
calib_X(fd);
}
while(y_current_pass[1]<COORDS_MULTIPASS){
calib_Y(fd);
}
}
cv::Mat warp1(cv::Size(PROJ_WIDTH,PROJ_HEIGHT), CV_8UC3, cv::Scalar(0,0,0));
cv::Mat warp2(cv::Size(PROJ_WIDTH,PROJ_HEIGHT), CV_8UC3, cv::Scalar(0,0,0));
if(board1_exist){
std::cout<<"X & Y coordinates are stable, now to calibrate the projector..."<<std::endl;
// 输出坐标值
for(int i=0;i<SENSOR_NUMBER;i++){
std::cout<<"("<<x_coords[0][0][i]<<","<<y_coords[0][0][i]<<")"<<std::endl;
}
warp1=generate_max_display(1);
}
if(board2_exist){
std::cout<<"X & Y coordinates are stable, now to calibrate the projector..."<<std::endl;
// 输出坐标值
for(int i=0;i<SENSOR_NUMBER;i++){
std::cout<<"("<<x_coords[1][0][i]<<","<<y_coords[1][0][i]<<")"<<std::endl;
}
warp2=generate_max_display(2);
}
output_perspective_images(warp1,warp2);
cv::waitKey(10000);
// 等待接收线程结束
pthread_join(get_result_thread,&thread_ret);
}
