RectifyTester248.cpp

#include "opencv2/opencv.hpp"
#include "opencv2/nonfree/nonfree.hpp"

//http://blog.livedoor.jp/hen_cyberne/archives/51072839.html
//http://whoopsidaisies.hatenablog.com/entry/2013/12/07/135810

using namespace cv;
using namespace std;

#if _DEBUG
#pragma comment(lib, "opencv_core248d.lib")
#pragma comment(lib, "opencv_highgui248d.lib")
#pragma comment(lib, "opencv_imgproc248d.lib")
#pragma comment(lib, "opencv_contrib248d.lib")
#pragma comment(lib, "opencv_calib3d248d.lib")
#pragma comment(lib, "opencv_features2d248d.lib")
#pragma comment(lib, "opencv_nonfree248d.lib")
#else
#pragma comment(lib, "opencv_core248.lib")
#pragma comment(lib, "opencv_highgui248.lib")
#pragma comment(lib, "opencv_imgproc248.lib")
#pragma comment(lib, "opencv_contrib248.lib")
#pragma comment(lib, "opencv_calib3d248.lib")
#pragma comment(lib, "opencv_features2d248.lib")
#pragma comment(lib, "opencv_nonfree248.lib")
#endif

void feature_matching (vector<KeyPoint>&  keypoints1, vector<KeyPoint>&  keypoints2, std::vector<cv::DMatch> & dmatch, Mat &  img1, Mat & img2)
{
	//Grid, Pyramid
	//FAST，FASTX，STAR，SIFT，SURF，ORB，BRISK，MSER，GFTT，HARRIS，Dense，SimpleBlob
	const std::string& featureDetectorName = "SURF"; 
	
	//Opponent
	//SIFT，SURF，BRIEF，BRISK，ORB，FREAK
	const std::string& descriptorExtractorName = "SURF";

	//SIFT, SURF : Euclid
	//BRIEF, ORB, FREAK: Binary .type() CV_8U: Binary, Hamming Distance
	//BruteForce，BruteForce-L1，BruteForce-SL2，BruteForce-Hamming，BruteForce-Hamming(2)，FlannBased
	const std::string& descriptorMatcherName = "FlannBased";

	bool crossCheck = false; // true

	// SIFT・SURFモジュールの初期化
	cv::initModule_nonfree();

	// 特徴点抽出
	cv::Ptr<cv::FeatureDetector> detector = cv::FeatureDetector::create(featureDetectorName);
	detector->detect(img1, keypoints1);
	detector->detect(img2, keypoints2);

	// 特徴記述
	cv::Ptr<cv::DescriptorExtractor> extractor = cv::DescriptorExtractor::create(descriptorExtractorName);
	cv::Mat descriptor1, descriptor2;
	extractor->compute(img1, keypoints1, descriptor1);
	extractor->compute(img2, keypoints2, descriptor2);

	// マッチング
	cv::Ptr<cv::DescriptorMatcher> matcher = cv::DescriptorMatcher::create(descriptorMatcherName);
	if (crossCheck)
	{
		// クロスチェックする場合
		std::vector<cv::DMatch> match12, match21;
		matcher->match(descriptor1, descriptor2, match12);
		matcher->match(descriptor2, descriptor1, match21);
		for (size_t i = 0; i < match12.size(); i++)
		{
			cv::DMatch forward = match12[i];
			cv::DMatch backward = match21[forward.trainIdx];
			if (backward.trainIdx == forward.queryIdx)
				dmatch.push_back(forward);
		}
	}
	else
	{
		// クロスチェックしない場合
		matcher->match(descriptor1, descriptor2, dmatch);
	}

#if 1
	// マッチング結果の表示
	cv::Mat out;
	cv::drawMatches(img1, keypoints1, img2, keypoints2, dmatch, out);
	cv::imshow("matching", out);
	waitKey(1);
	//while (cv::waitKey(1) == -1);
#endif
}

void rectify_test(int argc, char *argv[])
{
	Mat m_img1 = imread ( "right01.jpg", CV_LOAD_IMAGE_GRAYSCALE );
	Mat m_img2 = imread ( "left01.jpg", CV_LOAD_IMAGE_GRAYSCALE );
	if(m_img1.empty() || m_img2.empty()) return;

	vector<Point2f>  m_imgPoints1;
	vector<Point2f>  m_imgPoints2;
	vector<DMatch> m_matches;
	vector<KeyPoint>  m_keypoints1, m_keypoints2;

	Mat  dst1, dst2 ; // ステレオ平行化画像出力先
	Mat  F, H1, H2;   // F行列、ステレオ平行化のための変換行列
	Mat  ptMat1, ptMat2; // 対応点格納用行列
	vector<uchar> mask;  // マスク（ダミー）

	// surf matching
	feature_matching (m_keypoints1, m_keypoints2, m_matches, m_img1, m_img2);
	
	m_imgPoints1.resize ( m_keypoints1.size() );
	m_imgPoints2.resize ( m_keypoints1.size() );
	for ( size_t  i = 0;  i < m_matches.size(); ++i )
	{
        int i1 = m_matches[i].queryIdx;
        int i2 = m_matches[i].trainIdx;
		m_imgPoints1[i1] = m_keypoints1[i1].pt;
		m_imgPoints2[i1] = m_keypoints2[i2].pt;
	}

	ptMat1 = Mat ( m_imgPoints1 );
	ptMat2 = Mat ( m_imgPoints2 );
	
	// fundam.cpp  ... line:1108, line: 1073
	F = findFundamentalMat(ptMat1, ptMat2, cv::FM_RANSAC); //CV_FM_7POINT, CV_FM_8POINT, cv::FM_RANSAC, CV_FM_LMEDS

	stereoRectifyUncalibrated(ptMat1, ptMat2, F, m_img1.size(),	H1, H2);
	
	dst1 = Mat ( m_img1.size(), m_img1.type() );
	dst2 = Mat ( m_img2.size(), m_img2.type() );

	//widh intrinsic: call cv::initUndistortRectifyMap
	warpPerspective (m_img1, dst1, H1, dst1.size() );
	warpPerspective (m_img2, dst2, H2, dst2.size() );

	imwrite ( "rectfied_1.png", dst1 );
	imwrite ( "rectfied_2.png", dst2 );
	imshow("rectified1", dst1);
	imshow("rectified2", dst2);

	waitKey();
}

int main(int argc, char* argv[])
{
	rectify_test(argc, argv);
	return 0;
}