testfund.m~

matlab的一些函数功能

% Demonstration of feature matching via simple correlation, and then using
% RANSAC to estimate the fundamental matrix and at the same time identify
% (mostly) inlying matches

% Peter Kovesi  
% School of Computer Science & Software Engineering
% The University of Western Australia
% pk at csse uwa edu au
% http://www.csse.uwa.edu.au/~pk
%
% February 2004

function testfund

    close all    
    
    thresh = 500;   % Harris corner threshold
    nonmaxrad = 3;  % Non-maximal suppression radius
    
    im1 = imread('im1.jpg');
    im2 = imread('im2.jpg');

    % Find Harris corners in image1 and image2
    [cim1, r1, c1] = harris(im1, 1, thresh, 3);
    show(im1,1), hold on, plot(c1,r1,'r+');

    [cim2, r2, c2] = harris(im2, 1, thresh, 3);
    show(im2,2), hold on, plot(c2,r2,'r+');

    drawnow

    w = 7;    % Window size for correlation matching
    [m1,m2] = matchbycorrelation(im1, [r1';c1'], im2, [r2';c2'], w);

    % Display putative matches
    show(im1,3), set(3,'name','Putative matches'), hold on    
    for n = 1:length(m1);
	line([m1(2,n) m2(2,n)], [m1(1,n) m2(1,n)])
    end

    % Assemble homogeneous feature coordinates for fitting of the
    % fundamental matrix, note that [x,y] corresponds to [col, row]
    x1 = [m1(2,:); m1(1,:); ones(1,length(m1))];
    x2 = [m2(2,:); m2(1,:); ones(1,length(m1))];    
    
    t = .001;  % Distance threshold for deciding outliers
    [F, inliers] = ransacfitfundmatrix(x1, x2, t);

    % Display both images overlayed with inlying matched feature points
    show(double(im1)+double(im2),4), set(4,'name','Inlying matches'), hold on    
    plot(m1(2,inliers),m1(1,inliers),'r+');
    plot(m2(2,inliers),m2(1,inliers),'g+');    

    for n = inliers
	line([m1(2,n) m2(2,n)], [m1(1,n) m2(1,n)],'color',[0 0 1])
    end
   
    % Step through each matched pair of points and display the
    % corresponding epipolar lines on the two images.
    
    l2 = F*x1;    % Epipolar lines in image2
    l1 = F'*x2;   % Epipolar lines in image1

    for n = inliers
	figure(1), clf, show(im1,1), hold on, plot(x1(1,n),x1(2,n),'r+');
	hline(l1(:,n));
	figure(2), clf, show(im2,2), hold on, plot(x2(1,n),x2(2,n),'r+');
	hline(l2(:,n));
	fprintf('hit any key to see next point\r'); pause
    end

    fprintf('                                         \n');