tristan cardot / Pollen3D

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src/RectifierAffine.cpp 4.34 KB
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b0bb08d1c   tristan   init 
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  #include "RectifierAffine.hpp"
  
  RectifierAffine::RectifierAffine()
  {
  
  }
  
  RectifierAffine::~RectifierAffine()
  {
  
  }
  
  void RectifierAffine::init(cv::Mat*im1, cv::Mat *im2, cv::Mat *F, std::vector<cv::Point2d>* inliers1, std::vector<cv::Point2d>* inliers2) {
      _imL = im1;
      _imR = im2;
      _F = F;
  
      _inliers1 = inliers1;
      _inliers2 = inliers2;
  }
  
  void RectifierAffine::rectify()
  {
      std::cout << "Rectification started... " << std::endl;
      cv::Mat epR;
      cv::Mat epL ;
  
      cv::computeCorrespondEpilines(*_inliers1,1, *_F,epR);
      cv::computeCorrespondEpilines(*_inliers2, 2, *_F,epL);
  
  
      //std::cout << _F.toMat() << "sdsdsds
  
  " << _F.toMat().t() << "
  
  ";
  
      angleL = atan(-epL.at<double>(0)/epL.at<double>(1));
      angleR = atan(-epR.at<double>(0)/epR.at<double>(1));
  
      std::cout << "Angles (L,R) : (" << angleL << ", " << angleR << ")" << std::endl;
  
      cv::Mat Rl = get2DRotationMatrixLeft();
      cv::Mat Rr = get2DRotationMatrixRight();
      cv::warpAffine(*_imL, imLrect, Rl, _imL->size());
      cv::warpAffine(*_imR, imRrect, Rr, _imR->size());
      std::cout<< "ok"<< std::endl;
      //cv::cvtColor(imLrect, imLrect, CV_BGR2GRAY);
      //cv::cvtColor(imRrect, imRrect, CV_BGR2GRAY);
  
      cv::Mat imLrectShifted;
      cv::Mat imRrectShifted;
  
      std::vector<cv::Point2d> inliersLeftTransformed;
      std::vector<cv::Point2d> inliersRightTransformed;
  
      for(int i = 0; i < _inliers1->size(); i++) {
          cv::Mat tempPoint;
          tempPoint = (cv::Mat_<double>(3,1) << (*_inliers1)[i].x, (*_inliers1)[i].y, 1);
          tempPoint = Rl*tempPoint;
          inliersLeftTransformed.push_back(cv::Point2d(tempPoint.at<double>(0,0),tempPoint.at<double>(1,0)));
  
          tempPoint = (cv::Mat_<double>(3,1) << (*_inliers2)[i].x, (*_inliers2)[i].y, 1);
          tempPoint = Rr*tempPoint;
          inliersRightTransformed.push_back(cv::Point2d(tempPoint.at<double>(0,0),tempPoint.at<double>(1,0)));
      }
  
      cv::Mat rectErrors = cv::Mat::zeros(inliersLeftTransformed.size(), 1, cv::DataType<double>::type);
      for(int i = 0; i < inliersLeftTransformed.size(); i++) {
          rectErrors.at<double>(i,0) = inliersLeftTransformed[i].y - inliersRightTransformed[i].y;
      }
      cv::Scalar mean, std;
      cv::meanStdDev ( rectErrors, mean, std );
  
      shift = round(abs(mean[0]));
      std::cout<<shift<<std::endl;
      int rowNb;
    
      if (mean[0] > 0){ // features of 2nd are higher than the 1st - shift to the second
          imLrectShifted = imLrect;
          imRrectShifted = cv::Mat::zeros(shift,imRrect.cols, imRrect.type());
          imLrectShifted.push_back(imRrectShifted);
          imRrectShifted.push_back(imRrect);
          for (int i = 0; i < inliersRightTransformed.size(); i++) {
              inliersRightTransformed[i].y = inliersRightTransformed[i].y + shift;
          }
      }
      else{
          imRrectShifted = imRrect;
          imLrectShifted = cv::Mat::zeros(shift,imLrect.cols, imLrect.type());
          imRrectShifted.push_back(imLrectShifted);
          imLrectShifted.push_back(imLrect);
          for (int i = 0; i < inliersLeftTransformed.size(); i++) {
              inliersLeftTransformed[i].y = inliersLeftTransformed[i].y + shift;
          }
      }
      
  
      for(int i = 0; i < inliersLeftTransformed.size(); i++) {
          rectErrors.at<double>(i,0) = inliersLeftTransformed[i].y - inliersRightTransformed[i].y;
      }
      cv::meanStdDev ( rectErrors, mean, std );
  
      std::cout << "Rectification errors:" << std::endl;
      std::cout << "      mean: " << mean << std::endl;
      std::cout << "       std: " << std << std::endl;
  
      imLrect = imLrectShifted;
      imRrect = imRrectShifted;
      *_inliers1=inliersLeftTransformed;
      *_inliers2= inliersRightTransformed;
      std::cout << "Done" << std::endl;
      //cv::imwrite("_R01.jpg", imLrect);
      //cv::imwrite("_R02.jpg", imRrect);
  }
  
  bool RectifierAffine::isReady()
  {
      return (! _F->empty()) && (! this->_inliers1->empty()) && (! this->_inliers2->empty());
  }
  
  cv::Mat RectifierAffine::get2DRotationMatrixLeft()
  {
      return cv::getRotationMatrix2D(cv::Point2d(_imR->cols/2.0,_imR->rows/2.0),angleL*180.0/CV_PI,1);
  }
  
  cv::Mat RectifierAffine::get2DRotationMatrixRight()
  {
      return cv::getRotationMatrix2D(cv::Point2d(_imR->cols/2.0,_imR->rows/2.0),angleR*180.0/CV_PI,1);
  
  }
  
  cv::Mat RectifierAffine::get2DShiftMatrix()
  {
      cv::Mat shiftMat = cv::Mat::zeros( 3, 3, cv::DataType<double>::type);
      shiftMat.at<double>(1,2) = shift;
      return shiftMat;
  
  }