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src/main.cpp
1.94 KB
b0bb08d1c
init
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#include <stdio.h>
#include <iostream>
#include <opencv2/opencv.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/objdetect/objdetect.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include "Autocalib.h"
#include "3dReconst.h"
using namespace std;
int main(int argc, char *argv[])
{
vector<cv::Mat> image;
for (int index=1; index<argc; index++) {
image.push_back( cv::imread( argv[index], cv::IMREAD_GRAYSCALE));
}
cout<<image[0].size()<<endl;
/* for(int i=0;i<image.size();i++)
{
int offset_x = 800;
int offset_y = 400;
cv::Rect roi;
roi.x = offset_x;
roi.y = offset_y;
roi.width = image[i].size().width - (offset_x*2);
cout<<"ok"<<endl;
roi.height = image[i].size().height - (offset_y*3);
image[i] = image[i](roi);
string name = "piece"+to_string(i)+".jpg";
cv::imwrite(name,image[i]);
}*/
//Extract features AKAZE and estimat measuremental matrix
Autocalib clib;
vector<vector<cv::Point2d> > matchVector=clib.findFeaturePoint(image,0.001);
vector<vector<cv::Point2d> > measureVector;
if(image.size()>2){ measureVector=clib.getMeasureVector(matchVector); }
else{measureVector=matchVector;}
//cout<<measureVector.size()<<endl;
//Estimate Fundamental matrix and show epipolair lines with images (before rectification)
vector<cv::Mat> fundMatVector =clib.estimatFundMatVector(measureVector);
clib.showEpipolarLines(image, measureVector, fundMatVector);
//optimisation
cv::Mat measureMatrix = clib.vectorPoint2Mat(measureVector);
vector <cv::Mat> P; // P : camera matrix
P=clib.estimatParameter(measureMatrix);
for(int i=0; i<P.size();i++)
{cout <<"matrice de camera"<<endl<< P[i]<<endl;}
//reconstruction 3d
Reconst rec;
vector<cv::Mat> rectifImage;
rectifImage=rec.RectificaEpipolarLines(image, measureVector, fundMatVector);
rec.disparity(rectifImage);
rec.GetPointCloud(P,image[0]);
rec.filterPointCloud(rectifImage.size()/2);
return 0;
}
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