Merge pull request #4 from nohayassin/smearing_passed_autocal7_integr…

…ation Smearing passed autocal7 integration
dorodnic · May 14, 2020 · e46c6ff · e46c6ff
2 parents 1d63c2b + f8bd9b1
commit e46c6ff
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Showing 12 changed files with 743 additions and 405 deletions.
diff --git a/src/algo/depth-to-rgb-calibration/coeffs.cpp b/src/algo/depth-to-rgb-calibration/coeffs.cpp
@@ -620,7 +620,7 @@ namespace depth_to_rgb_calibration {
     {
         coeffs<rotation_in_angles> res;
         auto engles = extract_angles_from_rotation( yuy_intrin_extrin.rot.rot );
-        auto v = z_data.vertices;
+        auto v = z_data.vertices_all;
         res.x_coeffs.resize( v.size() );
         res.y_coeffs.resize( v.size() );
 
@@ -750,7 +750,7 @@ namespace depth_to_rgb_calibration {
     {
         coeffs<p_matrix> res;
 
-        auto v = z_data.vertices;
+        auto v = z_data.vertices_all;
         res.y_coeffs.resize(v.size());
         res.x_coeffs.resize(v.size());
 
@@ -767,7 +767,7 @@ namespace depth_to_rgb_calibration {
     {
         coeffs<translation> res;
 
-        auto v = z_data.vertices;
+        auto v = z_data.vertices_all;
         res.y_coeffs.resize( v.size() );
         res.x_coeffs.resize( v.size() );
 
@@ -871,7 +871,7 @@ namespace depth_to_rgb_calibration {
         iteration_data_collect * data)
     {
         coeffs<k_matrix> res;
-        auto v = z_data.vertices;
+        auto v = z_data.vertices_all;
         res.x_coeffs.resize( v.size() );
         res.y_coeffs.resize( v.size() );
 

diff --git a/src/algo/depth-to-rgb-calibration/debug.h b/src/algo/depth-to-rgb-calibration/debug.h
@@ -10,6 +10,6 @@
 #define AC_LOG_PREFIX "AC1: "
 #define AC_LOG(TYPE,MSG) LOG_##TYPE( AC_LOG_PREFIX << (std::string)( to_string() << MSG ))
 //#define AC_LOG(TYPE,MSG) LOG_ERROR( AC_LOG_PREFIX << MSG )
-//#define AC_LOG(TYPE,MSG) std::cout << (std::string)( to_string() << "-" << #TYPE [0] << "- " << MSG ) << std::endl; //LOG_INFO((std::string)( to_string() << "-" << #TYPE [0] << "- " << MSG ));
+//#define AC_LOG(TYPE,MSG) std::cout << (std::string)( to_string() << std::setprecision(6)<<std::fixed << "-" << #TYPE [0] << "- " << MSG ) << std::endl; //LOG_INFO((std::string)( to_string() << "-" << #TYPE [0] << "- " << MSG ));
 //#define AC_LOG_CONTINUE(TYPE,MSG) std::cout << (std::string)( to_string() << "-" << #TYPE [0] << "- " << MSG )
 
diff --git a/src/algo/depth-to-rgb-calibration/frame-data.h b/src/algo/depth-to-rgb-calibration/frame-data.h
@@ -28,18 +28,18 @@ namespace depth_to_rgb_calibration {
     struct ir_frame_data : frame_data
     {
         std::vector< ir_t > ir_frame;
-        std::vector< double > ir_edges;
-        std::vector<double> edges;
+        std::vector< double > edges;
+        std::vector< double > local_edges;
 
         // smearing
         std::vector<double> gradient_x;
         std::vector<double> gradient_y;
         std::vector< byte > section_map_depth;
-        std::vector<uint8_t> valid_edge_pixels_by_ir;
+        std::vector<double> valid_edge_pixels_by_ir;
         std::vector<byte> valid_section_map;
         std::vector<double>valid_gradient_x;
         std::vector<double>valid_gradient_y;
-        std::vector<double> edges2;
+        //std::vector<double> edges;
         std::vector<direction> directions;
         std::vector<double> direction_deg;
         std::vector<double> valid_location_rc_x;
@@ -51,8 +51,9 @@ namespace depth_to_rgb_calibration {
         std::vector<double> local_region[4];
         std::vector<double> local_region_x[4];//for debug
         std::vector<double> local_region_y[4]; // for debug
-        std::vector<double> local_edges;
+        //std::vector<double> ir_edges;
         std::vector<uint8_t> is_supressed;
+        std::vector<double> fraq_step;
 
     };
 
@@ -67,16 +68,43 @@ namespace depth_to_rgb_calibration {
         std::vector<double> edges;
         std::vector<double> supressed_edges;                
         size_t n_strong_edges;
-        std::vector<direction> directions;
+        //std::vector<direction> valid_directions;
         std::vector<double> subpixels_x;
         std::vector<double> subpixels_y;
-        std::vector< uint16_t> closest;
+        //std::vector< uint16_t> closest;
         std::vector<double> weights;
         std::vector<double> direction_deg;
-        std::vector<double3> vertices;
+        std::vector<double3> vertices_all;
 
         //smearing
         std::vector< byte > section_map_depth;
+        std::vector< byte > section_map_depth_inside;
+        std::vector<double> local_x;
+        std::vector<double> local_y;
+        std::vector<double> gradient;
+        std::vector<double> local_values;
+        std::vector<double> grad_in_direction;
+        std::vector<double> grad_in_direction_inside;
+        std::vector<double> values_for_subedges;
+        std::vector<double> closest;
+        //std::vector< byte > supressed_edges;
+        std::vector<double> direction_per_pixel;
+        std::vector<double> valid_direction_per_pixel;
+        std::vector<byte> valid_section_map;
+        std::vector<double> local_rc_subpixel;
+        std::vector<double> edge_sub_pixel;
+        std::vector<double> valid_directions;
+        std::vector<double> directions;
+        std::vector<double> valid_edge_sub_pixel;
+        std::vector<double > valid_edge_sub_pixel_x;
+        std::vector<double > valid_edge_sub_pixel_y;
+        std::vector<double> sub_points;
+        //std::vector<double3> vertices;
+        std::vector<double3> vertices;
+        std::vector<double> vertices3;
+        std::vector<double2> uvmap;
+        std::vector<double> is_inside;
+
         // input validation
         std::vector<byte> section_map;
         bool is_edge_distributed;