#include?“header.h“

//?sift?is?50?times?slower?but?get?7?times?more?matched?points
//?FAST?detect?more?points?than?SURF
//?STAR/MSER?generate?very?few?keypoints
#define?DETECTOR_TYPE	“FAST“?//?FASTSIFTSURFSTARMSERGFTTHARRIS...see?the?create?function
#define?DEscriptOR_TYPE	“SIFT“?//?SURFSIFTBRIEF...BRIEF?seemed?to?has?bug
#define?MATCHER_TYPE	“Flannbased“?//?BruteForceFlannbasedBruteForce-L1...

#define?MAXM_FILTER_TH	20//?threshold?used?in?GetPair
#define?HOMO_FILTER_TH	100	//?threshold?used?in?GetPair
#define?NEAR_FILTER_TH	?10//?diff?points?should?have?distance?more?than?NEAR_FILTER_TH



//?choose?the?corresponding?points?in?the?stereo?images?for?3d?reconstruction
void?GetPair（?Mat?&imgL?Mat?&imgR?vector?&ptsL?vector?&ptsR?）?
{
	Mat?descriptorsL?descriptorsR;
	double?tt?=?（double）getTickCount（）;

	Ptr?detector?=?FeatureDetector::create（?DETECTOR_TYPE?）;?//?factory?mode

	vector?keypointsL?keypointsR;?
	detector->detect（?imgL?keypointsL?）;
	detector->detect（?imgR?keypointsR?）;


	PtrriptorExtractor>?de?=?DescriptorExtractor::create（DEscriptOR_TYPE）;
	//SurfDescriptorExtractor?de（42true）;
	de->compute（?imgL?keypointsL?descriptorsL?）;
	de->compute（?imgR?keypointsR?descriptorsR?）;

	tt?=?（（double）getTickCount（）?-?tt）/getTickFrequency（）;?//?620*555?pic?about?2s?for?SURF?120s?for?SIFT

	PtrriptorMatcher>?matcher?=?DescriptorMatcher::create（?MATCHER_TYPE?）;
	vector>?matches;
	matcher->knnMatch（?descriptorsL?descriptorsR?matches?2?）;?//?L:query?R:train

	vector?passedMatches;?//?save?for?drawing
	DMatch?m1?m2;
	vector?ptsRtemp?ptsLtemp;
	for（?size_t?i?=?0;?i?	{
		m1?=?matches[i][0];
		m2?=?matches[i][1];
		if?（m1.distance?		{
			ptsRtemp.push_back（keypointsR[m1.trainIdx].pt）;
			ptsLtemp.push_back（keypointsL[i].pt）;
			passedMatches.push_back（m1）;
		}
	}

	Mat?HLR;
	HLR?=?findHomography（?Mat（ptsLtemp）?Mat（ptsRtemp）?CV_RANSAC?3?）;
	cout<<“Homography:“<	Mat?ptsLt;?
	perspectiveTransform（Mat（ptsLtemp）?ptsLt?HLR）;

	vector?matchesMask（?passedMatches.size（）?0?）;
	int?cnt?=?0;
	for（?size_t?i1?=?0;?i1?	{
		Point2f?prjPtR?=?ptsLt.at（（int）i10）;?//?prjx?=?ptsLt.at（（int）i10）?prjy?=?ptsLt.at（（int）i11）;
		?//?inlier
		if（?abs（ptsRtemp[i1].x?-?prjPtR.x）?			abs（ptsRtemp[i1].y?-?prjPtR.y）?		{
			vector::iterator?iter?=?ptsL.begin（）;
			for?（;iter!=ptsL.end（）;iter++）
			{
				Point2f?diff?=?*iter?-?ptsLtemp[i1];
				float?dist?=?abs（diff.x）+abs（diff.y）;
				if?（dist?			}
			if?（iter?!=?ptsL.end（））?continue;

			ptsL.push_back（ptsLtemp[i1]）;
			ptsR.push_back（ptsRtemp[i1]）;
			cnt++;
			if?（cnt%1?==?0）?matchesMask[i1]?=?1;?//?don‘t?want?to?

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-07-20?16:07??三維重建備份\
?????目錄???????????0??2018-11-14?15:09??三維重建備份\Reconstuction3d\
?????目錄???????????0??2018-07-20?16:07??三維重建備份\Reconstuction3d\.vs\
?????目錄???????????0??2018-07-20?16:07??三維重建備份\Reconstuction3d\.vs\Reconstuction3d\
?????目錄???????????0??2018-07-20?16:07??三維重建備份\Reconstuction3d\.vs\Reconstuction3d\v14\
?????文件???????48128??2016-08-08?00:10??三維重建備份\Reconstuction3d\.vs\Reconstuction3d\v14\.suo
?????文件?????3686454??2018-10-26?14:56??三維重建備份\Reconstuction3d\1.bmp
?????文件?????3686454??2018-10-26?14:56??三維重建備份\Reconstuction3d\2.bmp
?????目錄???????????0??2018-08-27?20:00??三維重建備份\Reconstuction3d\Debug\
?????文件?????2209656??2018-06-26?08:48??三維重建備份\Reconstuction3d\Debug\Reconstuction3d.ilk
?????文件?????4443136??2018-06-26?08:48??三維重建備份\Reconstuction3d\Debug\Reconstuction3d.pdb
?????文件??????128635??2016-07-21?22:03??三維重建備份\Reconstuction3d\GLUT工具包.rar
?????目錄???????????0??2018-11-14?14:49??三維重建備份\Reconstuction3d\Reconstuction3d\
?????文件????54853632??2018-11-14?15:09??三維重建備份\Reconstuction3d\Reconstuction3d.sdf
?????文件????????1349??2018-06-25?21:41??三維重建備份\Reconstuction3d\Reconstuction3d.sln
?????文件???????22528??2016-07-22?17:51??三維重建備份\Reconstuction3d\Reconstuction3d.suo
?????文件???????52224??2018-11-14?15:09??三維重建備份\Reconstuction3d\Reconstuction3d.v12.suo
?????文件?????3686454??2018-10-26?14:56??三維重建備份\Reconstuction3d\Reconstuction3d\1.bmp
?????文件?????3686454??2018-10-26?14:56??三維重建備份\Reconstuction3d\Reconstuction3d\2.bmp
?????文件????????9154??2018-11-14?14:49??三維重建備份\Reconstuction3d\Reconstuction3d\cvFuncs.cpp
?????文件????????7068??2018-07-21?09:39??三維重建備份\Reconstuction3d\Reconstuction3d\cvFuncs2.cpp
?????文件????????1516??2011-06-01?21:09??三維重建備份\Reconstuction3d\Reconstuction3d\cvFuncs3.cpp
?????文件????????7086??2018-06-28?10:57??三維重建備份\Reconstuction3d\Reconstuction3d\glFuncs.cpp
?????文件???????21440??1998-08-18?16:24??三維重建備份\Reconstuction3d\Reconstuction3d\glut.h
?????文件??????220160??2004-10-23?11:25??三維重建備份\Reconstuction3d\Reconstuction3d\glut32.dll
?????文件???????81680??2004-10-23?11:25??三維重建備份\Reconstuction3d\Reconstuction3d\glut32.lib
?????文件????????2691??2016-07-21?22:05??三維重建備份\Reconstuction3d\Reconstuction3d\header.h
?????文件????????5938??2014-11-26?20:59??三維重建備份\Reconstuction3d\Reconstuction3d\main.cpp
?????文件????????1609??2014-11-26?21:09??三維重建備份\Reconstuction3d\Reconstuction3d\ReadMe.txt
?????文件????????6469??2018-11-14?14:39??三維重建備份\Reconstuction3d\Reconstuction3d\Reconstuction3d.cpp
?????文件???????10517??2018-06-26?08:53??三維重建備份\Reconstuction3d\Reconstuction3d\Reconstuction3d.vcxproj
............此處省略33個(gè)文件信息