RectifierAffine.cpp
4.34 KB
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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\n\n" << _F.toMat().t() << "\n\n";
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;
}