#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	“SURF“?//?SURFSIFTBRIEF...BRIEF?seemed?to?has?bug
#define?MATCHER_TYPE	“Flannbased“?//?BruteForceFlannbasedBruteForce-L1...

#define?MAXM_FILTER_TH	.8	//?threshold?used?in?GetPair
#define?HOMO_FILTER_TH	60	//?threshold?used?in?GetPair
#define?NEAR_FILTER_TH	40	//?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?draw?to?many?matches

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2011-07-02?22:50??rec3D\
?????目錄???????????0??2011-07-02?22:51??rec3D\method2\
?????文件???????19937??2011-06-01?10:14??rec3D\method2\ScreenShot029.jpg
?????文件???????28493??2011-06-01?10:15??rec3D\method2\ScreenShot032.jpg
?????文件???????18411??2011-06-01?10:16??rec3D\method2\ScreenShot033.jpg
?????文件???????44183??2011-06-01?10:18??rec3D\method2\ScreenShot035.jpg
?????文件???????56406??2011-06-01?10:19??rec3D\method2\ScreenShot037.jpg
?????文件???????57780??2011-06-01?13:10??rec3D\method2\ScreenShot042.jpg
?????文件???????64871??2011-06-01?13:10??rec3D\method2\ScreenShot043.jpg
?????文件??????129125??2011-06-01?21:44??rec3D\method2\ScreenShot053.jpg
?????文件???????45313??2011-06-01?21:47??rec3D\method2\ScreenShot054.jpg
?????文件???????44387??2011-06-01?21:49??rec3D\method2\ScreenShot055.jpg
?????文件???????55437??2011-06-01?21:49??rec3D\method2\ScreenShot056.jpg
?????目錄???????????0??2011-07-02?22:52??rec3D\rec3D\
?????文件?????????881??2011-05-22?09:55??rec3D\rec3D.sln
?????文件??????152576??2011-07-02?22:45??rec3D\rec3D.suo
?????文件????????8899??2011-07-02?22:42??rec3D\rec3D\cvFuncs.cpp
?????文件????????6539??2011-07-02?22:42??rec3D\rec3D\cvFuncs2.cpp
?????文件????????1516??2011-06-01?21:09??rec3D\rec3D\cvFuncs3.cpp
?????文件???????17774??2011-07-02?22:44??rec3D\rec3D\disp.jpg
?????文件????????7015??2011-07-02?22:40??rec3D\rec3D\glFuncs.cpp
?????文件???????27780??2004-10-23?11:23??rec3D\rec3D\glut.h
?????文件??????220160??2004-10-23?11:25??rec3D\rec3D\glut32.dll
?????文件???????81680??2004-10-23?11:25??rec3D\rec3D\glut32.lib
?????文件????????2631??2011-06-01?21:58??rec3D\rec3D\header.h
?????文件????????4769??2011-06-01?21:46??rec3D\rec3D\main-algo3bkup.cpp
?????文件????????5237??2011-07-02?22:43??rec3D\rec3D\main.cpp
?????文件???????47104??2011-07-02?22:44??rec3D\rec3D\rec3D.exe
?????文件????????4162??2011-06-01?21:58??rec3D\rec3D\rec3D.vcproj
?????文件????????1413??2011-07-02?22:45??rec3D\rec3D\rec3D.vcproj.YanKe-PC.YanKe.user
?????文件???????67588??2011-05-25?17:28??rec3D\ScreenShot013.jpg
............此處省略7個文件信息