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%# 
%# title: Calibration.m
%# brief: キャリブレーションされていないステレオイメージの平行化
%#
%# url: https://jp.mathworks.com/help/vision/examples/uncalibrated-stereo-image-rectification.html
%# 

I1 = imread('yellowstone_left.png');
I2 = imread('yellowstone_right.png');

% グレースケール変換
I1gray = rgb2gray(I1);
I2gray = rgb2gray(I2);

figure;
imshowpair(I1, I2, 'montage');
title('I1(left); I2(right)');
figure;
imshow(stereoAnaglyph(I1, I2));
title('Composite Image (Red: Left Image , Cyan: Right Image');

%------------------------------------------------
%  各イメージからの関心点の収集
%------------------------------------------------
blobs1 = detectSURFFeatures(I1gray, 'MetricThreshold', 2000);
blobs2 = detectSURFFeatures(I2gray, 'MetricThreshold', 2000);

figure;
imshow(I1);
hold on;
plot(selectStrongest(blobs1, 30));
title('Thirty strongest SURF features in I1');

figure;
imshow(I2);
hold on;
plot(selectStrongest(blobs2, 30));
title('Thirty strongest SURF features in I2');

%------------------------------------------------
% 点の推定的対応関係の検出
%------------------------------------------------
[features1, validBlobs1] = extractFeatures(I1gray, blobs1);
[features2, validBlobs2] = extractFeatures(I2gray, blobs2);

% 差の絶対値(SAD)をメトリクスとしてマッチする特徴のindexを求める
indexPairs = matchFeatures(features1, features2, 'Metric', 'SAD', 'MatchThreshold', 5);

matchedPoints1 = validBlobs1(indexPairs(:, 1), :);
matchedPoints2 = validBlobs2(indexPairs(:, 2), :);

figure;
showMatchedFeatures(I1, I2, matchedPoints1, matchedPoints2);
legend('Putatively matched points in I1', 'Putatively matched points in I2');

%------------------------------------------------
% エピポーラ制約を使用した外れ値の除去
%------------------------------------------------
[fMatrix, epipolarInliers, status] = estimateFundamentalMatrix(...
    matchedPoints1, matchedPoints2, 'Method', 'RANSAC', ...
    'NumTrials', 10000, 'DistanceThreshold', 0.1, 'Confidence', 99.99);
  
if status ~= 0 || isEpipoleInImage(fMatrix, size(I1)) ...
    || isEpipoleInImage(fMatrix', size(I2))
  error(['Either not enough matching points were found or the epipoles are' ...
         'inside the images. You may need to inspect and improve the quality' ...
         'of detected features and/or improve the quality of your images']);
end

inlierPoints1 = matchedPoints1(epipolarInliers,:);
inlierPoints2 = matchedPoints2(epipolarInliers,:);

figure;
showMatchedFeatures(I1, I2, inlierPoints1, inlierPoints2);
legend('Inlier points in I1', 'Inlier points in I2');

%------------------------------------------------
% イメージの平行化
%------------------------------------------------
[t1, t2] = estimateUncalibratedRectification(fMatrix, ...
    inlierPoints1.Location, inlierPoints2.Location, size(I2));
tform1 = projective2d(t1);
tform2 = projective2d(t2);

[I1Rect, I2Rect] = rectifyStereoImages(I1, I2, tform1, tform2);
figure;
imshow(stereoAnaglyph(I1Rect, I2Rect));
title('Rectified Stereo Images(Red: Left Image, Cyan: Right Image');