#include?“extra.h“
#include?
using??namespace?std;

void?decomposeEssentialMat（?InputArray?_E?OutputArray?_R1?OutputArray?_R2?OutputArray?_t?）
{
????Mat?E?=?_E.getMat（）.reshape（1?3）;
????CV_Assert（E.cols?==?3?&&?E.rows?==?3）;

????Mat?D?U?Vt;
????SVD::compute（E?D?U?Vt）;

????if?（determinant（U）?????if?（determinant（Vt）?
????Mat?W?=?（Mat_（3?3）?<????W.convertTo（W?E.type（））;

????Mat?R1?R2?t;
????R1?=?U?*?W?*?Vt;
????R2?=?U?*?W.t（）?*?Vt;
????t?=?U.col（2）?*?1.0;

????R1.copyTo（_R1）;
????R2.copyTo（_R2）;
????t.copyTo（_t）;
}

int?recoverPose（?InputArray?E?InputArray?_points1?InputArray?_points2?OutputArray?_R
?????????????????????OutputArray?_t?double?focal?Point2d?pp?InputOutputArray?_mask）
{
????Mat?points1?points2?cameraMatrix;
????cameraMatrix?=?（Mat_（33）?<????_points1.getMat（）.convertTo（points1?CV_64F）;
????_points2.getMat（）.convertTo（points2?CV_64F）;
????
????int?npoints?=?points1.checkVector（2）;
????CV_Assert（?npoints?>=?0?&&?points2.checkVector（2）?==?npoints?&&
??????????????????????????????points1.type（）?==?points2.type（））;

????CV_Assert（cameraMatrix.rows?==?3?&&?cameraMatrix.cols?==?3?&&?cameraMatrix.channels（）?==?1）;

????if?（points1.channels（）?>?1）
????{
????????points1?=?points1.reshape（1?npoints）;
????????points2?=?points2.reshape（1?npoints）;
????}

????double?fx?=?cameraMatrix.at（00）;
????double?fy?=?cameraMatrix.at（11）;
????double?cx?=?cameraMatrix.at（02）;
????double?cy?=?cameraMatrix.at（12）;

????points1.col（0）?=?（points1.col（0）?-?cx）?/?fx;
????points2.col（0）?=?（points2.col（0）?-?cx）?/?fx;
????points1.col（1）?=?（points1.col（1）?-?cy）?/?fy;
????points2.col（1）?=?（points2.col（1）?-?cy）?/?fy;

????points1?=?points1.t（）;
????points2?=?points2.t（）;

????Mat?R1?R2?t;
????decomposeEssentialMat（E?R1?R2?t）;
????Mat?P0?=?Mat::eye（3?4?R1.type（））;
????Mat?P1（3?4?R1.type（））?P2（3?4?R1.type（））?P3（3?4?R1.type（））?P4（3?4?R1.type（））;
????P1（Range::all（）?Range（0?3））?=?R1?*?1.0;?P1.col（3）?=?t?*?1.0;
????P2（Range::all（）?Range（0?3））?=?R2?*?1.0;?P2.col（3）?=?t?*?1.0;
????P3（Range::all（）?Range（0?3））?=?R1?*?1.0;?P3.col（3）?=?-t?*?1.0;
????P4（Range::all（）?Range（0?3））?=?R2?*?1.0;?P4.col（3）?=?-t?*?1.0;

????//?Do?the?cheirality?check.
????//?Notice?here?a?threshold?dist?is?used?to?filter
????//?out?far?away?points?（i.e.?infinite?points）?since
????//?there?depth?may?vary?between?postive?and?negtive.
????double?dist?=?50.0;
????Mat?Q;
????triangulatePoints（P0?P1?points1?points2?Q）;
????Mat?mask1?=?Q.row（2）.mul（Q.row（3））?>?0;
????Q.row（0）?/=?Q.row（3）;
????Q.row（1）?/=?Q.row（3）;
????Q.row（2）?/=?Q.row（3）;
????Q.row（3）?/=?Q.row（3）;
????mask1?=?（Q.row（2）?????Q?=?P1?*?Q;
????mask1?=?（Q.row（2）?>?0）?&?mask1;
????mask1?=?（Q.row（2）?
????triangulatePoints（P0?P2?points1?points2?Q）;
????Mat?mask2?=?Q.row（2）.mul（Q.row（3））?>?0;
????

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-11-28?02:24??FeatureMethod-master\
?????目錄???????????0??2017-11-28?02:24??FeatureMethod-master\.idea\
?????文件???????????3??2017-11-28?02:24??FeatureMethod-master\.idea\.name
?????文件??????????97??2017-11-28?02:24??FeatureMethod-master\.idea\FeatureExtraction.iml
?????文件?????????137??2017-11-28?02:24??FeatureMethod-master\.idea\misc.xml
?????文件?????????286??2017-11-28?02:24??FeatureMethod-master\.idea\modules.xml
?????文件???????28552??2017-11-28?02:24??FeatureMethod-master\.idea\workspace.xml
?????文件??????529319??2017-11-28?02:24??FeatureMethod-master\1.png
?????文件??????122848??2017-11-28?02:24??FeatureMethod-master\1_depth.png
?????文件??????532217??2017-11-28?02:24??FeatureMethod-master\2.png
?????文件??????122985??2017-11-28?02:24??FeatureMethod-master\2_depth.png
?????文件????????1482??2017-11-28?02:24??FeatureMethod-master\CMakeLists.txt
?????文件?????????449??2017-11-28?02:24??FeatureMethod-master\README.md
?????目錄???????????0??2017-11-28?02:24??FeatureMethod-master\cmake-build-debug\
?????文件???????36638??2017-11-28?02:24??FeatureMethod-master\cmake-build-debug\CMakeCache.txt
?????目錄???????????0??2017-11-28?02:24??FeatureMethod-master\cmake-build-debug\CMakeFiles\
?????目錄???????????0??2017-11-28?02:24??FeatureMethod-master\cmake-build-debug\CMakeFiles\3.7.1\
?????文件????????2003??2017-11-28?02:24??FeatureMethod-master\cmake-build-debug\CMakeFiles\3.7.1\CMakeCCompiler.cmake
?????文件????????4557??2017-11-28?02:24??FeatureMethod-master\cmake-build-debug\CMakeFiles\3.7.1\CMakeCXXCompiler.cmake
?????文件????????8192??2017-11-28?02:24??FeatureMethod-master\cmake-build-debug\CMakeFiles\3.7.1\CMakeDetermineCompilerABI_C.bin
?????文件????????8208??2017-11-28?02:24??FeatureMethod-master\cmake-build-debug\CMakeFiles\3.7.1\CMakeDetermineCompilerABI_CXX.bin
?????文件?????????410??2017-11-28?02:24??FeatureMethod-master\cmake-build-debug\CMakeFiles\3.7.1\CMakeSystem.cmake
?????目錄???????????0??2017-11-28?02:24??FeatureMethod-master\cmake-build-debug\CMakeFiles\3.7.1\CompilerIdC\
?????文件???????16826??2017-11-28?02:24??FeatureMethod-master\cmake-build-debug\CMakeFiles\3.7.1\CompilerIdC\CMakeCCompilerId.c
?????文件????????8352??2017-11-28?02:24??FeatureMethod-master\cmake-build-debug\CMakeFiles\3.7.1\CompilerIdC\a.out
?????目錄???????????0??2017-11-28?02:24??FeatureMethod-master\cmake-build-debug\CMakeFiles\3.7.1\CompilerIdCXX\
?????文件???????16397??2017-11-28?02:24??FeatureMethod-master\cmake-build-debug\CMakeFiles\3.7.1\CompilerIdCXX\CMakeCXXCompilerId.cpp
?????文件????????8360??2017-11-28?02:24??FeatureMethod-master\cmake-build-debug\CMakeFiles\3.7.1\CompilerIdCXX\a.out
?????文件?????????657??2017-11-28?02:24??FeatureMethod-master\cmake-build-debug\CMakeFiles\CMakeDirectoryInformation.cmake
?????文件???????41999??2017-11-28?02:24??FeatureMethod-master\cmake-build-debug\CMakeFiles\CMakeOutput.log
?????文件???????10491??2017-11-28?02:24??FeatureMethod-master\cmake-build-debug\CMakeFiles\Makefile.cmake
............此處省略66個文件信息