#include?“APAP_Processor.h“
#include?“MathUtils.h“
/*
?*?\param?points?特征點集
?*?\param?x?y?x*的坐標
?*/
using?namespace?cv;
using?namespace?std;
using?namespace?Eigen;
vector?points;
MatrixXd?calculate_Wi_forPoint（double?x?double?y）
{
	const?double?sigma_squared?=?sigma?*?sigma;
	MatrixXd?Wi（2?*?points.size（）?2?*?points.size（））;
	Wi.setZero（）;
	for?（size_t?i?=?0;?i?	{
		double?u?=?（double）points[i].x?v?=?（double）points[i].y;
		double?sqr_dist?=?getSqrDist（x?y?u?v）;
		double?candidate?=?exp（-sqr_dist?/?sigma_squared）;
		double?omega_i?=?max（candidate?gamma）;
		Wi（i?*?2?i?*?2）?=?omega_i;
		Wi（i?*?2?+?1?i?*?2?+?1）?=?omega_i;
	}
	return?Wi;
}

//計算每一個x*對應的*i
void?calculate_Wi_Matrices（Mat?img?vector&?obj?vector&?vec）
{
	points?=?obj;
	int?Width?=?img.size（）.width?Height?=?img.size（）.height;
	ArrayXd?heightArray?=?ArrayXd::LinSpaced（C1?+?1?0?Height?-?1）
		widthArray?=?ArrayXd::LinSpaced（C2?+?1?0?Width?-?1）;//分割
	ofstream?fout（“Wi.txt“）;
	int?count?=?0;
	for?（int?i?=?0;?i?		double?y?=?（heightArray（i）?+?heightArray（i?+?1））?/?2;
		for?（int?j?=?0;?j?		//	cout?<			double?x?=?（widthArray（j）?+?widthArray（j?+?1））?/?2;
			MatrixXd?Wi?=?calculate_Wi_forPoint（x?y）;
			vec.push_back（Wi）;
		}
	}

}

//每個分塊的H*
vector?calculate_CellHomography（vector&?matrices?MatrixXd&?A）
{
	vector?H_vec;
	for?（size_t?i?=?0;?i?	{
		MatrixXd?WA?=?matrices[i]?*?A;
		Matrix3d?H;
		JacobiSVD?svd（WA?ComputeThinU?|?ComputeThinV）;
		MatrixXd?V?=?svd.matrixV（）;
		VectorXd?h?=?V.col（V.cols（）?-?1）;
		H?<			h[3]?h[4]?h[5]
			h[6]?h[7]?h[8];
		H_vec.push_back（H）;
	}
	return?H_vec;
}


GridBox**?getIndex（const?Mat&?img?int?C1?int?C2?int?offset_x?int?offset_y?vector?H_vec）
{
	GridBox**?a?=?new?GridBox*[C2?+?1];
	for?（int?i?=?0;?i?		a[i]?=?new?GridBox[C1?+?1];

	ArrayXf?widthArray?=?ArrayXf::LinSpaced（C2?+?1?0?img.size（）.width）
		heightArray?=?ArrayXf::LinSpaced（C1?+?1?0?img.size（）.height）;?//?0?~?C1?-?1?0?~?C2?-?1
	double?min_x?min_y;
	for?（int?gy?=?0;?gy?		for?（int?gx?=?0;?gx?		{
			int?H_index?=?gy?*?C2?+?gx;
			double?topleftx?toplefty
				toprightx?toprighty
				bottomleftx?bottomlefty
				bottomrightx?bottomrighty;
			ConvertCoordinates（widthArray[gx]?heightArray[gy]?topleftx?toplefty?H_vec[H_index]）;
			ConvertCoordinates（widthArray[gx?+?1]?heightArray[gy]?toprightx?toprighty?H_vec[H_index]）;
			ConvertCoordinates（widthArray[gx]?heightArray[gy?+?1]?bottomleftx?bottomlefty?H_vec[H_index]）;
			ConvertCoordinates（widthArray[gx?+?1]?heightArray[gy?+?1]?bottomrightx?bottomrighty?H_vec[H_index]）;
			GridBox?gbox?=?GridBox（Point2d（topleftx?+?offset_x?toplefty?+?offset_y）
									Point2d（toprightx?+?offset_x?toprighty?+?offset_y）
									Point2d（bottomleftx?+?offset_x?bottomlefty?+?offset_y）

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-05-13?08:24??APAP-Processor-master\
?????文件????????6001??2018-05-13?08:24??APAP-Processor-master\APAP_Processor.cpp
?????文件?????????372??2018-05-13?08:24??APAP-Processor-master\APAP_Processor.h
?????目錄???????????0??2018-05-13?08:24??APAP-Processor-master\Debug\
?????文件?????7574890??2018-05-13?08:24??APAP-Processor-master\Debug\APAP_Processor.obj
?????文件??????348812??2018-05-13?08:24??APAP-Processor-master\Debug\FeatureMatcher.obj
?????文件??????317936??2018-05-13?08:24??APAP-Processor-master\Debug\GridBox.obj
?????文件?????6404936??2018-05-13?08:24??APAP-Processor-master\Debug\Homography.obj
?????文件??????840296??2018-05-13?08:24??APAP-Processor-master\Debug\Main.obj
?????文件??????649859??2018-05-13?08:24??APAP-Processor-master\Debug\MathUtils.obj
?????文件??????519010??2018-05-13?08:24??APAP-Processor-master\Debug\Mesh2D.obj
?????文件??????657635??2018-05-13?08:24??APAP-Processor-master\Debug\RANSAC_Processor.obj
?????文件?????1932555??2018-05-13?08:24??APAP-Processor-master\Debug\SIFT_Matcher.obj
?????文件??????465484??2018-05-13?08:24??APAP-Processor-master\Debug\Transform.obj
?????文件????????1707??2018-05-13?08:24??APAP-Processor-master\Debug\opencvTest.Build.CppClean.log
?????文件????????3181??2018-05-13?08:24??APAP-Processor-master\Debug\opencvTest.log
?????目錄???????????0??2018-05-13?08:24??APAP-Processor-master\Debug\opencvTest.tlog\
?????文件????????7306??2018-05-13?08:24??APAP-Processor-master\Debug\opencvTest.tlog\CL.command.1.tlog
?????文件??????507202??2018-05-13?08:24??APAP-Processor-master\Debug\opencvTest.tlog\CL.read.1.tlog
?????文件???????12376??2018-05-13?08:24??APAP-Processor-master\Debug\opencvTest.tlog\CL.write.1.tlog
?????文件????????4366??2018-05-13?08:24??APAP-Processor-master\Debug\opencvTest.tlog\link.command.1.tlog
?????文件???????11308??2018-05-13?08:24??APAP-Processor-master\Debug\opencvTest.tlog\link.read.1.tlog
?????文件????????1310??2018-05-13?08:24??APAP-Processor-master\Debug\opencvTest.tlog\link.write.1.tlog
?????文件?????????209??2018-05-13?08:24??APAP-Processor-master\Debug\opencvTest.tlog\opencvTest.lastbuildstate
?????文件?????4164608??2018-05-13?08:24??APAP-Processor-master\Debug\vc141.idb
?????文件????16027648??2018-05-13?08:24??APAP-Processor-master\Debug\vc141.pdb
?????文件?????????722??2018-05-13?08:24??APAP-Processor-master\GridBox.cpp
?????文件?????????208??2018-05-13?08:24??APAP-Processor-master\GridBox.h
?????文件????????1040??2018-05-13?08:24??APAP-Processor-master\Homography.cpp
?????文件?????????182??2018-05-13?08:24??APAP-Processor-master\Homography.h
?????文件????????2059??2018-05-13?08:24??APAP-Processor-master\Main.cpp
............此處省略25個文件信息