/*

??insight3d?-?image?based?3d?modelling?software
??Copyright?（C）?2007-2008??Lukas?Mach
???????????????????????????email:?lukas.mach@gmail.com?
???????????????????????????web:?http://mach.matfyz.cz/

??This?program?is?free?software;?you?can?redistribute?it?and/or
??modify?it?under?the?terms?of?the?GNU?General?Public?License
??as?published?by?the?Free?Software?Foundation;?either?version?2
??of?the?License?or?（at?your?option）?any?later?version.

??This?program?is?distributed?in?the?hope?that?it?will?be?useful
??but?WITHOUT?ANY?WARRANTY;?without?even?the?implied?warranty?of
??MERCHANTABILITY?or?FITNESS?FOR?A?PARTICULAR?PURPOSE.??See?the
??GNU?General?Public?License?for?more?details.

??You?should?have?received?a?copy?of?the?GNU?General?Public?License
??along?with?this?program;?if?not?write?to?the?Free?Software
??Foundation?Inc.?51?Franklin?Street?Fifth?Floor?Boston?MA
??02110-1301?USA.
??
*/

#include?“actions.h“

//?triangulates?vertices?given?current?projection?matrices?and?vertex?projections
bool?action_triangulate_vertices（
	bool?*?shots_to_use?/*=?NULL*/?
	const?int?min_inliers?/*=?MVG_MIN_INLIERS_TO_TRIANGULATE*/?
	const?int?min_inliers_weaker?/*=?MVG_MIN_INLIERS_TO_TRIANGULATE_WEAKER*/
	const?bool?only_manual?/*=?false*/
	const?double?measurement_threshold?/*=?MVG_MEASUREMENT_THRESHOLD*/
）
{
	opencv_begin（）;

	printf（“.“）;

	//?reconstruct?all?vertices
	for?ALL（vertices?i）
	{
		Vertex?*?vertex?=?vertices.data?+?i;
		CvMat?*?reconstructed_vertex?=?NULL;?

		if?（only_manual?&&?vertex->vertex_type?!=?GEOMETRY_VERTEX_USER）?continue;

		if?（i?%?100?==?0）?
		{
			printf（“.“）;
		}
		?
		//?if?incidence?is?defined?（i.e.?if?the?vertex?has?some?2d?points）
		if?（IS_SET（vertices_incidence?i））?
		{
			//?feed?the?data?inside?appropriate?matrices?
			const?CvMat?*?*?projection_matrices;
			CvMat?*?points;?
			bool?publish_status?=?publish_triangulation_data（vertices_incidence.data[i]?i?projection_matrices?points?shots_to_use）;

			//?call?reconstruction?algorithm
			if?（publish_status）?
			{
				reconstructed_vertex?=?mvg_triangulation_RANSAC（
					projection_matrices?points?true?false?
					min_inliers?
					min_inliers_weaker?
					MVG_RANSAC_TRIANGULATION_TRIALS?
					MVG_MEASUREMENT_THRESHOLD
				）;
				FREE（projection_matrices）;?
				cvReleaseMat（&points）;
			}
		}

		//?if?the?reconstruction?succeeded
		if?（reconstructed_vertex）?
		{
			if?（reconstructed_vertex->rows?==?4）?opencv_normalize_homogeneous（reconstructed_vertex）;

			//?save?calculated?coordinates
			vertex->reconstructed?=?true;?
			vertex->x?=?OPENCV_ELEM（reconstructed_vertex?0?0）;?
			vertex->y?=?OPENCV_ELEM（reconstructed_vertex?1?0）;?
			vertex->z?=?OPENCV_ELEM（reconstructed_vertex?2?0）;
		}?
		else
		{
			//?mark?as?unreconstructed
			vertex->reconstructed?=?false;
			vertex->x?=?0;
			vertex->y?=?0;
			vertex->z?=?0;
		}

		//?release?resources
		cvReleaseMat（&reconstructed_vertex）;?
	}

	printf（“\n“）;
	opencv_end（）;
	return?true;
}

//?compute?proj

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2014-07-30?07:01??insight3d-code-1\
?????目錄???????????0??2014-07-30?07:01??insight3d-code-1\Release\
?????文件?????1788928??2009-07-23?01:39??insight3d-code-1\Release\insight3d.pdb
?????文件????????3072??2009-07-23?01:39??insight3d-code-1\Release\insight3d.suo
?????文件??????363008??2009-07-23?01:39??insight3d-code-1\Release\insight3d.exe
?????目錄???????????0??2014-07-30?07:01??insight3d-code-1\Debug\
?????文件?????3353600??2009-07-23?01:39??insight3d-code-1\Debug\insight3d.pdb
?????文件?????2196672??2009-07-23?01:39??insight3d-code-1\Debug\insight3d.ilk
?????文件?????1156608??2009-07-23?01:39??insight3d-code-1\Debug\insight3d.exe
?????文件??????590848??2009-07-23?01:39??insight3d-code-1\insight3d.suo
?????目錄???????????0??2014-07-30?07:01??insight3d-code-1\insight3d\
?????目錄???????????0??2014-07-30?07:01??insight3d-code-1\insight3d\sift_win\
?????目錄???????????0??2014-07-30?07:01??insight3d-code-1\insight3d\sift_win\dspFeat\
?????文件?????????903??2009-07-23?01:39??insight3d-code-1\insight3d\sift_win\dspFeat\dspFeat.sln
?????文件??????314368??2009-07-23?01:39??insight3d-code-1\insight3d\sift_win\dspFeat\dspFeat.ncb
?????文件????????6963??2009-07-23?01:39??insight3d-code-1\insight3d\sift_win\dspFeat\dspFeat.vcproj
?????文件????????8704??2009-07-23?01:39??insight3d-code-1\insight3d\sift_win\dspFeat\dspFeat.suo
?????目錄???????????0??2014-07-30?07:01??insight3d-code-1\insight3d\sift_win\docs\
?????目錄???????????0??2014-07-30?07:01??insight3d-code-1\insight3d\sift_win\docs\html\
?????文件????????1758??2009-07-23?01:39??insight3d-code-1\insight3d\sift_win\docs\html\tabs.css
?????文件?????????706??2009-07-23?01:39??insight3d-code-1\insight3d\sift_win\docs\html\tab_l.gif
?????文件?????????192??2009-07-23?01:39??insight3d-code-1\insight3d\sift_win\docs\html\form_10.png
?????文件?????????283??2009-07-23?01:39??insight3d-code-1\insight3d\sift_win\docs\html\form_11.png
?????文件?????????642??2009-07-23?01:39??insight3d-code-1\insight3d\sift_win\docs\html\form_12.png
?????文件?????????634??2009-07-23?01:39??insight3d-code-1\insight3d\sift_win\docs\html\form_13.png
?????文件????????2585??2009-07-23?01:39??insight3d-code-1\insight3d\sift_win\docs\html\tab_r.gif
?????文件????????1493??2009-07-23?01:39??insight3d-code-1\insight3d\sift_win\docs\html\structpq__node.html
?????文件???????22350??2009-07-23?01:39??insight3d-code-1\insight3d\sift_win\docs\html\xform_8h.html
?????文件????????1281??2009-07-23?01:39??insight3d-code-1\insight3d\sift_win\docs\html\doxygen.png
?????文件????????7048??2009-07-23?01:39??insight3d-code-1\insight3d\sift_win\docs\html\globals_func.html
?????文件???????38965??2009-07-23?01:39??insight3d-code-1\insight3d\sift_win\docs\html\utils_8h.html
............此處省略588個(gè)文件信息