void Reconstructor::decodePaterns()
{
std::cout<<"Decoding paterns...";
int w=camera->width;
int h=camera->height;
cv::Point projPixel;
for(int i=0; i<w; i++)
{
for(int j=0; j<h; j++)
{
//if the pixel is not shadow reconstruct
if(shadowMask.at<uchar>(j,i))
{
//get the projector pixel for camera (i,j) pixel
bool error = getProjPixel(i,j,projPixel);
if(error)
{
shadowMask.at<uchar>(j,i)=0;
continue;
}
camPixels[ac(projPixel.x,projPixel.y)].push_back(cv::Point(i,j));
}
}
}
std::cout<<"done!\n";
}
bool GrayCodePattern_Impl::decode( const std::vector< std::vector<Mat> >& patternImages, OutputArray disparityMap,
InputArrayOfArrays blackImages, InputArrayOfArrays whitheImages, int flags ) const
{
const std::vector<std::vector<Mat> >& acquired_pattern = patternImages;
if( flags == DECODE_3D_UNDERWORLD )
{
// Computing shadows mask
std::vector<Mat> shadowMasks;
computeShadowMasks( blackImages, whitheImages, shadowMasks );
int cam_width = acquired_pattern[0][0].cols;
int cam_height = acquired_pattern[0][0].rows;
Point projPixel;
// Storage for the pixels of the two cams that correspond to the same pixel of the projector
std::vector<std::vector<std::vector<Point> > > camsPixels;
camsPixels.resize( acquired_pattern.size() );
// TODO: parallelize for (k and j)
for( size_t k = 0; k < acquired_pattern.size(); k++ )
{
camsPixels[k].resize( params.height * params.width );
for( int i = 0; i < cam_width; i++ )
{
for( int j = 0; j < cam_height; j++ )
{
//if the pixel is not shadowed, reconstruct
if( shadowMasks[k].at<uchar>( j, i ) )
{
//for a (x,y) pixel of the camera returns the corresponding projector pixel by calculating the decimal number
bool error = getProjPixel( acquired_pattern[k], i, j, projPixel );
if( error )
{
continue;
}
camsPixels[k][projPixel.x * params.height + projPixel.y].push_back( Point( i, j ) );
}
}
}
}
std::vector<Point> cam1Pixs, cam2Pixs;
Mat& disparityMap_ = *( Mat* ) disparityMap.getObj();
disparityMap_ = Mat( cam_height, cam_width, CV_64F, double( 0 ) );
double number_of_pixels_cam1 = 0;
double number_of_pixels_cam2 = 0;
for( int i = 0; i < params.width; i++ )
{
for( int j = 0; j < params.height; j++ )
{
cam1Pixs = camsPixels[0][i * params.height + j];
cam2Pixs = camsPixels[1][i * params.height + j];
if( cam1Pixs.size() == 0 || cam2Pixs.size() == 0 )
continue;
Point p1;
Point p2;
double sump1x = 0;
double sump2x = 0;
number_of_pixels_cam1 += cam1Pixs.size();
number_of_pixels_cam2 += cam2Pixs.size();
for( int c1 = 0; c1 < (int) cam1Pixs.size(); c1++ )
{
p1 = cam1Pixs[c1];
sump1x += p1.x;
}
for( int c2 = 0; c2 < (int) cam2Pixs.size(); c2++ )
{
p2 = cam2Pixs[c2];
sump2x += p2.x;
}
sump2x /= cam2Pixs.size();
sump1x /= cam1Pixs.size();
for( int c1 = 0; c1 < (int) cam1Pixs.size(); c1++ )
{
p1 = cam1Pixs[c1];
disparityMap_.at<double>( p1.y, p1.x ) = ( double ) (sump2x - sump1x);
}
sump2x = 0;
sump1x = 0;
}
}
return true;
} // end if flags
return false;
}
