36 lines
909 B
Mathematica
36 lines
909 B
Mathematica
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clear;
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close all;
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load donnees_appariees;
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load E_estimee;
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% Coordonnées homogènes des pixels appariés :
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p_1_tilde = [p_1_apparies ones(nb_paires,1)];
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p_2_tilde = [p_2_apparies ones(nb_paires,1)];
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w_1 = transpose(inverse_K*p_1_tilde');
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w_2 = transpose(inverse_K*p_2_tilde');
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% Estimation de la pose (4 solutions) :
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[t_4,R_4] = estimation_4_poses(E_estimee);
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% Reconstruction 3D (4 solutions) :
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figure('Name','Reconstruction 3D : 4 solutions');
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for i = 1:4
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t = t_4(:,i);
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R = R_4(:,:,i);
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Q = reconstruction_3D(w_1,w_2,t,R);
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affichage_3D(I_1,p_1_apparies,Q,t,R,i);
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end
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input('Tapez Entree pour afficher la bonne solution !');
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% Détermination de la "bonne" pose :
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[t,R] = estimation_pose(t_4,R_4,w_1,w_2);
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% Reconstruction 3D de la "bonne" solution :
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Q = reconstruction_3D(w_1,w_2,t,R);
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% Affichage de la "bonne" solution :
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figure('Name','Reconstruction 3D');
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affichage_3D(I_1,p_1_apparies,Q,t,R);
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