example 3d scan with 2 cameras and graycode

example-grayCodeStereo/addons.make

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+ofxRay
+ofxTriangulate
+ofxGraycode

example-grayCodeStereo/src/main.cpp

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+#include "ofMain.h"
+#include "testApp.h"
+#include "ofAppGlutWindow.h"
+
+//========================================================================
+int main( ){
+	ofSetupOpenGL(640*2,768, OF_WINDOW);			// <-------- setup the GL context
+
+	// this kicks off the running of my app
+	// can be OF_WINDOW or OF_FULLSCREEN
+	// pass in width and height too:
+	ofRunApp( new testApp());
+
+}

example-grayCodeStereo/src/testApp.cpp

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+#include "testApp.h"
+
+
+//--------------------------------------------------------------
+void testApp::setup(){
+	ofSetVerticalSync(true);
+	string path = "";
+	payload.init(1024, 768);
+	encoder.init(payload);
+
+
+
+	decoder1.init(payload);
+	for(int i=0;i<encoder.getFrameCount();i++){
+		imgColor.loadImage(path+"capture1/"+ofToString(i)+".png");
+		decoder1 << imgColor;
+	}
+
+	mean1.allocate(decoder1.getDataSet().getMean());
+	mean1.loadData(decoder1.getDataSet().getMean());
+
+	inverseMean1.allocate(decoder1.getDataSet().getMeanInverse());
+	inverseMean1.loadData(decoder1.getDataSet().getMeanInverse());
+
+
+	decoder2.init(payload);
+	for(int i=0;i<encoder.getFrameCount();i++){
+		imgColor.loadImage(path+"capture2/"+ofToString(i)+".png");
+		decoder2 << imgColor;
+	}
+
+	mean2.allocate(decoder2.getDataSet().getMean());
+	mean2.loadData(decoder2.getDataSet().getMean());
+
+	inverseMean2.allocate(decoder2.getDataSet().getMeanInverse());
+	inverseMean2.loadData(decoder2.getDataSet().getMeanInverse());
+
+	ofEnableAlphaBlending();
+	ofBackground(255);
+
+	depthMap.allocate(decoder1.getDataSet().getDataInverse().getWidth(),decoder1.getDataSet().getDataInverse().getHeight(),OF_IMAGE_GRAYSCALE);
+	depthMap.getPixelsRef().set(0);
+	imgColor.loadImage(path+"capture2/1.png");
+	mesh.setMode(OF_PRIMITIVE_POINTS);
+
+
+
+	/*for(uint i=0;i<decoder1.getDataSet().getDataInverse().size();i++){
+		int d1 = decoder1.getDataSet().getDataInverse()[i];
+		int d2 = decoder2.getDataSet().getDataInverse()[i];
+		int x = i%decoder1.getDataSet().getDataInverse().getWidth();
+		int y = i/decoder1.getDataSet().getDataInverse().getWidth();
+		if(decoder1.getDataSet().getActive()[d1] && decoder2.getDataSet().getActive()[d2]){
+			//int diff = d1-d2;
+			int d1_x = d1%decoder1.getDataSet().getData().getWidth();
+			int d1_y = d1/decoder1.getDataSet().getData().getWidth();
+			int d2_x = d2%decoder1.getDataSet().getData().getWidth();
+			int d2_y = d2/decoder2.getDataSet().getData().getWidth();
+			//int z = abs(d2_x-d1_x)*3;
+			float z = ofVec2f(d2_x,d2_y).distance(ofVec2f(d1_x,d1_y))*4;
+			ofVec2f p = ofVec3f(x,y);
+			mesh.addVertex(ofVec3f(p.x,p.y,z));
+			mesh.addTexCoord(ofVec2f(d2_x,d2_y));
+			//mesh.addColor(ofFloatColor(imgColor2.getColor(d2_x,d2_y)));
+			depthMap.getPixelsRef()[x+y*depthMap.getWidth()] = (z*255)/1024.;
+		}
+	}
+	depthMap.update();
+	mesh.save("mesh.ply");*/
+
+	float zNear = -1;
+	float zFar = 1000;
+	float cx = 6.7843858886797614e+02;
+	float cy = 3.4517466503352483e+02;
+	float fx = 1.0719532879358244e+03;
+	float fy = 1.0703376726883023e+03;
+	float w = 1280;
+	float h = 720;
+
+	ofxRay::Camera camera1(ofVec2f(fx,fy),ofVec2f(cx,cy),zNear,zFar,w,h);
+	ofxRay::Camera camera2(ofVec2f(fx,fy),ofVec2f(cx,cy),zNear,zFar,w,h);
+	camera1.move(-80,0,0);
+	camera2.move(80,0,0);
+	/*camera1.setDistortionCoeffs(-1.8485624115541981e-02, 1.7542084045196377e-01,
+		       -5.8501379173839701e-03, 2.8400331767995646e-03,
+		       -1.0012578431324812e+00);
+	camera2.setDistortionCoeffs(-1.8485624115541981e-02, 1.7542084045196377e-01,
+		       -5.8501379173839701e-03, 2.8400331767995646e-03,
+		       -1.0012578431324812e+00);*/
+
+	for(int i=0;i<decoder1.getDataSet().getDataInverse().size();i++){
+		int d1 = decoder1.getDataSet().getDataInverse()[i];
+		int d2 = decoder2.getDataSet().getDataInverse()[i];
+		int x = i%decoder1.getDataSet().getDataInverse().getWidth();
+		int y = i/decoder1.getDataSet().getDataInverse().getWidth();
+		if(decoder1.getDataSet().getActive()[d1] && decoder2.getDataSet().getActive()[d2]){
+			int d2_x = d2%decoder1.getDataSet().getData().getWidth();
+			int d2_y = d2/decoder2.getDataSet().getData().getWidth();
+			ofVec3f world = ofxTriangulate::Triangulate(d1,d2,camera1,camera2);
+			mesh.addVertex(world);
+			mesh.addTexCoord(ofVec2f(d2_x,d2_y));//ofFloatColor(imgColor2.getColor(d2_x,d2_y)));
+			depthMap.getPixelsRef()[x+y*depthMap.getWidth()] = (world.z*255)/zFar;
+		}
+	}
+	depthMap.update();
+	mesh.save("mesh.ply");
+
+	ofVec3f centroid=mesh.getCentroid();
+
+	camera.setTarget(centroid);
+
+	//glEnable(GL_POINT_SMOOTH);
+	//glHint(GL_POINT_SMOOTH_HINT,GL_NICEST);
+	glPointSize(2);
+	glEnable(GL_DEPTH_TEST);
+
+	mode = ThreeD;
+}
+
+//--------------------------------------------------------------
+void testApp::update(){
+}
+
+//--------------------------------------------------------------
+void testApp::draw(){
+	int height = mean1.getHeight()*640/mean1.getWidth();
+	switch(mode){
+	case Mean:
+		mean1.draw(0,0,640,height);
+		mean2.draw(640,0,640,height);
+		ofSetColor(255,180);
+		inverseMean1.draw(0,height,640,480);
+		ofSetColor(255,180);
+		inverseMean2.draw(0,height,640,480);
+		break;
+	case DepthMap:
+		depthMap.draw(0,0);
+		break;
+	case ThreeD:
+		camera.begin();
+		imgColor.bind();
+		mesh.draw();
+		imgColor.unbind();
+		camera.end();
+		break;
+	}
+}
+
+
+
+//--------------------------------------------------------------
+void testApp::keyPressed(int key){
+	if(key==' '){
+		mode= (Mode)(int(mode)+ 1);
+		mode= (Mode)(int(mode)%3);
+	}
+}
+
+//--------------------------------------------------------------
+void testApp::keyReleased(int key){
+
+}
+
+//--------------------------------------------------------------
+void testApp::mouseMoved(int x, int y ){
+
+}
+
+//--------------------------------------------------------------
+void testApp::mouseDragged(int x, int y, int button){
+
+}
+
+//--------------------------------------------------------------
+void testApp::mousePressed(int x, int y, int button){
+
+}
+
+//--------------------------------------------------------------
+void testApp::mouseReleased(int x, int y, int button){
+
+}
+
+//--------------------------------------------------------------
+void testApp::windowResized(int w, int h){
+
+}
+
+//--------------------------------------------------------------
+void testApp::gotMessage(ofMessage msg){
+
+}
+
+//--------------------------------------------------------------
+void testApp::dragEvent(ofDragInfo dragInfo){ 
+
+}

example-grayCodeStereo/src/testApp.h

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+#pragma once
+
+#include "ofMain.h"
+#include "ofxGraycode.h"
+#include "ofxRay.h"
+#include "ofxTriangulate.h"
+
+using namespace ofxGraycode;
+
+class testApp : public ofBaseApp{
+
+	public:
+		void setup();
+		void update();
+		void draw();
+
+		void keyPressed  (int key);
+		void keyReleased(int key);
+		void mouseMoved(int x, int y );
+		void mouseDragged(int x, int y, int button);
+		void mousePressed(int x, int y, int button);
+		void mouseReleased(int x, int y, int button);
+		void windowResized(int w, int h);
+		void dragEvent(ofDragInfo dragInfo);
+		void gotMessage(ofMessage msg);
+
+		PayloadGraycode payload;
+		Encoder encoder;
+		Decoder decoder1, decoder2;
+		ofVboMesh mesh;
+		ofTexture mean1, inverseMean1, mean2, inverseMean2;
+		ofImage depthMap;
+		ofEasyCam camera;
+
+		ofImage imgColor;
+
+		enum Mode{
+			Mean=0,
+			DepthMap,
+			ThreeD,
+		}mode;
+};