Moved the displacement calculations into the parent class rather than

reimplementing it every time in the children classes.

* Changed the Z-scale from being #defined to a class attribute, so that
it can be changed
* Added class attributes for the pattern and the image widths, with getters
and setters. By default they correspond to the dimensions of the projected
and captured images, but in many implementations (binary, phase shift), the pattern
width is the number of columns.
* Simplified the Phase Shift Method displacement calculations.

Author: Julien Ugon

BinaryImplementation.cpp

@@ -17,6 +17,16 @@ void BinaryImplementation::preExperimentRun() {
 	}
 }
 
+// For binary implementations, the "width" of the pattern
+// is the number of columns.
+double BinaryImplementation::getPatternWidth() {
+	return (double) this->getNumberColumns();
+}
+
+unsigned int BinaryImplementation::getNumberColumns() {
+    return this->numberColumns;
+}
+
 void BinaryImplementation::postExperimentRun() {
 	delete[] binaryCode;
 }
@@ -96,10 +106,8 @@ void BinaryImplementation::postIterationsProcess() {
 
 			if (currentBinaryCode != -1 && currentBinaryCode != lastBinaryCode) {
 
-				double displacement = 
-					((double)x / (double)croppedArea.width) - ((double)currentBinaryCode / (double)numberColumns);
-
-				slDepthExperimentResult result(x, y, displacement * BINARY_Z_SCALE);
+				double displacement = getDisplacement(currentBinaryCode,x);
+				slDepthExperimentResult result(x, y, displacement * this->getScale());
 				experiment->storeResult(&result);
 
 				lastBinaryCode = currentBinaryCode;

BinaryImplementation.h

@@ -11,8 +11,6 @@
 #define BINARY_WHITE_THRESHOLD 50
 #define BINARY_BLACK_THRESHOLD -50
 
-#define BINARY_Z_SCALE 10000
-
 using namespace cv;
 
 class BinaryImplementation : public slImplementation {
@@ -21,13 +19,15 @@ class BinaryImplementation : public slImplementation {
 		virtual ~BinaryImplementation() {};
 		void preExperimentRun();
 		void postExperimentRun();
+	        virtual double getPatternWidth();
 		bool hasMoreIterations();
 		virtual Mat generatePattern();
 		virtual void iterationProcess();
 		virtual void postIterationsProcess();
+		unsigned int getNumberColumns();
 
 	protected:
-		int numberColumns;
+		unsigned int numberColumns;
 		int *binaryCode;
 };
 

DeBruijnImplementation.cpp

@@ -1,29 +1,44 @@
 #include "DeBruijnImplementation.h"
 
-DeBruijnImplementation::DeBruijnImplementation(): slImplementation(string("DeBruijnImplementation")) {
+DeBruijnImplementation::DeBruijnImplementation(): slImplementation(string("DeBruijnImplementation")),numberEdges(124) {
 }
 
+DeBruijnImplementation::DeBruijnImplementation(unsigned int numEdges): slImplementation(string("DeBruijnImplementation")),numberEdges(numEdges) {
+}
 void DeBruijnImplementation::preExperimentRun() {
 	slInfrastructure *infrastructure = experiment->getInfrastructure();
 
-	transitions = new Vec3s[DEBRUIJN_NUM_EDGES];
+	transitions = new Vec3s[getNumberEdges()];
 }
 
 void DeBruijnImplementation::postExperimentRun() {
 	delete[] transitions;
 }
 
+// For these implementations, the "width" of the pattern
+// is the number of columns.
+double DeBruijnImplementation::getPatternWidth() {
+	return this->getNumberColumns();
+}
 bool DeBruijnImplementation::hasMoreIterations() {
         return experiment->getIterationIndex() < 1;
 }
 
+unsigned int DeBruijnImplementation::getNumberColumns() {
+    return this->numberEdges+1;
+}
+
+unsigned int DeBruijnImplementation::getNumberEdges() {
+    return this->numberEdges;
+}
+
 Mat DeBruijnImplementation::generatePattern() {
 	Size cameraResolution = experiment->getInfrastructure()->getCameraResolution();
 
 	int screenWidth = (int)cameraResolution.width;
 	int screenHeight = (int)cameraResolution.height;
 
-	float columnWidth = (float)screenWidth / (float)(DEBRUIJN_NUM_EDGES + 1);
+	float columnWidth = (float)screenWidth / getNumberColumns();
 
 	int size = DEBRUIJN_K * DEBRUIJN_N;
 	vector<int> a(size), sequence;
@@ -36,7 +51,7 @@ Mat DeBruijnImplementation::generatePattern() {
 	float columnX = 0;
 	int pj = 1;
 
-	for (int columnIndex = 0; columnIndex < (DEBRUIJN_NUM_EDGES + 1); columnIndex++) {
+	for (int columnIndex = 0; columnIndex < getNumberColumns(); columnIndex++) {
 		int dj = sequence[columnIndex] + 1;
 
 		int pjInit = pj;
@@ -75,7 +90,7 @@ void DeBruijnImplementation::postIterationsProcess() {
 	Rect croppedArea = infrastructure->getCroppedArea();
 	Mat captureMat = experiment->getLastCapture();
 
-	float columnWidth = (float)infrastructure->getCameraResolution().width / (float)(DEBRUIJN_NUM_EDGES + 1);
+	float columnWidth = (float)infrastructure->getCameraResolution().width / (float)getNumberColumns();
 
 	for (int y = 0; y < croppedArea.height; y++) {
 		int prevR = 0;
@@ -118,24 +133,24 @@ void DeBruijnImplementation::postIterationsProcess() {
 		S = (pairScore**) malloc(edgeIndex * sizeof(*S));
 
 		for (int i = 0; i< edgeIndex; i++) { 
-			S[i] = (pairScore*)malloc(DEBRUIJN_NUM_EDGES * sizeof(pairScore));
+			S[i] = (pairScore*)malloc(getNumberEdges() * sizeof(pairScore));
 
-			for (int j = 0;j < DEBRUIJN_NUM_EDGES; j++) {
+			for (int j = 0;j < getNumberEdges(); j++) {
 				S[i][j].score = 0;
 				S[i][j].numberItems = 0;
 				S[i][j].caseSigma = 0;
 			}
 		}
 
-		sigma(edgeIndex - 1, DEBRUIJN_NUM_EDGES - 1, transitions, edges, S);
+		sigma(edgeIndex - 1, getNumberEdges() - 1, transitions, edges, S);
 
-		nCorrespondences = S[edgeIndex - 1][DEBRUIJN_NUM_EDGES - 1].numberItems;
+		nCorrespondences = S[edgeIndex - 1][getNumberEdges() - 1].numberItems;
 
 //		DB("Number of correspondences for y=" << y << ": " << nCorrespondences)
 
 		int (*correspondences)[2] = new int[nCorrespondences][2];
 
-		populateCorrespondences(edgeIndex - 1, DEBRUIJN_NUM_EDGES - 1, correspondences, S);
+		populateCorrespondences(edgeIndex - 1, getNumberEdges() - 1, correspondences, S);
 
 		for (int i = 0; i < edgeIndex; i++) {
 			free(S[i]);
@@ -146,12 +161,11 @@ void DeBruijnImplementation::postIterationsProcess() {
 			int newX = correspondences[i][0];
 			int x = correspondence[newX];
 
-			int xPos = (correspondences[i][1] + 1) * columnWidth;
+			int xPos = (correspondences[i][1] + 1);
 
-			double displacement = 
-				((double)xPos / (double)infrastructure->getCameraResolution().width) - ((double)x / (double)croppedArea.width);
+			double displacement = getDisplacement(xPos,x);
 
-			slDepthExperimentResult result(x, y, displacement * DEBRUIJN_Z_SCALE);
+			slDepthExperimentResult result(x, y, displacement * this->getScale());
 			experiment->storeResult(&result);
     		}
 

DeBruijnImplementation.h

@@ -3,8 +3,6 @@
 
 #include "slBenchmark.h"
 
-#define DEBRUIJN_Z_SCALE 10000
-
 #define DEBRUIJN_K 5
 #define DEBRUIJN_N 3
 
@@ -26,13 +24,18 @@ typedef struct {
 class DeBruijnImplementation : public slImplementation {
 	public:
 		DeBruijnImplementation();
+		// Add a constructor to allow for a different number of edges
+		DeBruijnImplementation(unsigned int);
 		virtual ~DeBruijnImplementation() {};
 		void preExperimentRun();
 		void postExperimentRun();
+		virtual double getPatternWidth();
 		bool hasMoreIterations();
 		virtual Mat generatePattern();
 		void calculateCroppedCapture();
 		virtual void postIterationsProcess();
+		unsigned int getNumberColumns();
+		unsigned int getNumberEdges();
 
 	protected:
 		void db(int, int, int, int, vector<int> &, vector<int> &);
@@ -42,6 +45,8 @@ class DeBruijnImplementation : public slImplementation {
 		double sigma(int, int, Vec3s *, Vec3s *, pairScore **);
 		void populateCorrespondences(int, int, int[][2], pairScore **);
 		Vec3s *transitions;
+	private:
+    		double numberEdges;
 };
 
 #endif //DEBRUIJN_IMPLEMENTATION_H

GrayCodedBinaryImplementation.cpp

@@ -88,16 +88,15 @@ void GrayCodedBinaryImplementation::postIterationsProcess() {
 		int lastBinaryCode = -1;
 
 		for (int x = 0; x < croppedArea.width; x++) {
-			double xCamera = (double)x / (double)croppedArea.width;
 			int currentBinaryCode = binaryCode[(y * croppedArea.width) + x];
 
 			if (currentBinaryCode != -1 && currentBinaryCode != lastBinaryCode) {
 
-				double xPattern = ((double)convertGrayCodeToInteger(currentBinaryCode, numberColumns, BINARY_NUM_PATTERNS) / (double)numberColumns);
-				double displacement = xCamera - xPattern;
-				double z = displacement * BINARY_Z_SCALE;
+				double xPattern = (double)convertGrayCodeToInteger(currentBinaryCode, numberColumns, BINARY_NUM_PATTERNS);
+				double displacement = getDisplacement(xPattern,x);
+				double z = displacement * this->getScale();
 
-				slDepthExperimentResult result(x, y, displacement * BINARY_Z_SCALE);
+				slDepthExperimentResult result(x, y, z);
 				experiment->storeResult(&result);
 
 				lastBinaryCode = currentBinaryCode;

GroundTruthImplementation.cpp

@@ -72,11 +72,8 @@ void GroundTruthImplementation::postIterationsProcess() {
 
 			//if (currentBinaryCode != -1 && currentBinaryCode != lastBinaryCode) {
 			if (currentOriginalColumn != -1) {
-				
-				double displacement = 
-					((double)x / (double)croppedArea.width) - ((double)currentOriginalColumn / (double)experiment->getInfrastructure()->getCameraResolution().width);
-
-				slDepthExperimentResult result(x, y, displacement * GROUND_TRUTH_Z_SCALE);
+				double displacement = getDisplacement(currentOriginalColumn,x);
+				slDepthExperimentResult result(x, y, displacement * this->getScale());
 				experiment->storeResult(&result);
 
 				//lastBinaryCode = currentBinaryCode;

GroundTruthImplementation.h

@@ -8,8 +8,6 @@
 
 #define GROUND_TRUTH_WHITE_THRESHOLD 50
 
-#define GROUND_TRUTH_Z_SCALE 10000
-
 using namespace cv;
 
 class GroundTruthImplementation : public slImplementation {

PSMImplementation.cpp

@@ -1,8 +1,10 @@
 #include "PSMImplementation.h"
 
-PSMImplementation::PSMImplementation(): slImplementation(string("PSMImplementation")) {
+PSMImplementation::PSMImplementation(): slImplementation(string("PSMImplementation")),numberColumns(32) {
 }
 
+PSMImplementation::PSMImplementation(unsigned int nCol): slImplementation(string("PSMImplementation")),numberColumns(nCol) {
+}
 void PSMImplementation::preExperimentRun() {
 	pixelsToProcess = new priority_queue<WrappedPixel, vector<WrappedPixel>, CompareWrappedPixel>();
 
@@ -31,6 +33,16 @@ bool PSMImplementation::hasMoreIterations() {
         return experiment->getIterationIndex() < 3;
 }
 
+unsigned int PSMImplementation::getNumberColumns() {
+    return this->numberColumns;
+}
+
+// For Phase shift methods we use the number of columns
+// to determine the "size" of the pattern...
+double PSMImplementation::getPatternWidth() {
+    return (double) getNumberColumns();
+}
+
 Mat PSMImplementation::generatePattern() {
 	Size cameraResolution = experiment->getInfrastructure()->getCameraResolution();
 
@@ -39,13 +51,13 @@ Mat PSMImplementation::generatePattern() {
 	int screenWidth = (int)cameraResolution.width;
 	int screenHeight = (int)cameraResolution.height;
 
-	int columnWidth = screenWidth / PSM_NUM_COLS;
+	int columnWidth = screenWidth / getNumberColumns();
 
 	float offset = -1.6;
 
 	Mat pattern(screenHeight, screenWidth, CV_8UC3);
 
-	for (int column = 0; column < PSM_NUM_COLS; column++) {
+	for (int column = 0; column < getNumberColumns(); column++) {
 		int columnX = (column * columnWidth);
 
 		for (int x = columnX; x < (columnX + columnWidth); x++) {
@@ -239,16 +251,12 @@ void PSMImplementation::makeDepth() {
 
 	for (int y = 0; y < croppedArea.height; y += PSM_RENDER_DETAIL) {
 		for (int x = 0; x < croppedArea.width; x += PSM_RENDER_DETAIL) {
-			// planephase is 0 at the right border of the image, 1/2 in the middle and 1 at the
-			// left border of the image.
-			double planephase = 0.5f - ((x - (croppedArea.width / 2.0f)) / croppedArea.width);
 			int arrayOffset = (y * croppedArea.width) + x;
 
 			if (mask[arrayOffset] == 0) {
-				// xScaled should give us the position of the point in the projected picture (scaled to [0,1]).
-				double xScaled = phase[arrayOffset] / PSM_NUM_COLS + 0.5f;
-				double displacement = xScaled - planephase;
-				double z = displacement * PSM_Z_SCALE;
+				double xPos = getNumberColumns()/2 - phase[arrayOffset];
+				double displacement = getDisplacement(xPos,x);
+				double z = displacement * this->getScale();
 				slDepthExperimentResult result(x, y, z);
 				experiment->storeResult(&result);
 			}

PSMImplementation.h

@@ -7,12 +7,6 @@
 #define PSM_NOISE_THRESHOLD 0.1
 #define PSM_TWO_PI 6.2831853
 #define PSM_TWO_PI_ON_3 PSM_TWO_PI / 3.0
-#define PSM_NUM_COLS 32
-
-#define PSM_Z_SCALE 10000
-//#define PSM_Z_SCALE 100
-//#define PSM_Z_SKEW 24
-//#define PSM_Z_SKEW 6
 
 #define PSM_RENDER_DETAIL 7
 
@@ -38,12 +32,16 @@ struct CompareWrappedPixel {
 class PSMImplementation : public slImplementation {
 	public:
 		PSMImplementation();
+		// Constructor to set the number of columns to something else that 32...
+		PSMImplementation(unsigned int); 
 		virtual ~PSMImplementation() {};
 		void preExperimentRun();
 		void postExperimentRun();
 		bool hasMoreIterations();
+		virtual double getPatternWidth();
 		virtual Mat generatePattern();
 		virtual void postIterationsProcess();
+		unsigned int getNumberColumns();
 
 	private:
 		float diff(float, float);
@@ -56,6 +54,8 @@ class PSMImplementation : public slImplementation {
 		void phaseUnwrap();
 		void makeDepth();
 
+		unsigned int numberColumns;
+
 		priority_queue<WrappedPixel, vector<WrappedPixel>, CompareWrappedPixel> *pixelsToProcess;
 
 		float *phase;