clear;
close all;
taille_ecran = get(0,'ScreenSize');
L = taille_ecran(3);
H = taille_ecran(4);

load('./donnees_appariees.mat');
load('./E_estimee.mat');
load('./Fontaine/R_sol.mat');

p_1_tilde = [p_1_apparies ones(nb_paires,1)];
p_2_tilde = [p_2_apparies ones(nb_paires,1)];

w_1 = transpose(inverse_K*p_1_tilde');
w_2 = transpose(inverse_K*p_2_tilde');

% Estimation de la translation :
t_estimee = estimation_t(E_estimee,R_sol);

% Calcul et affichage des points 3D reconstruits :
Q = reconstruction_3D(w_1,w_2,t_estimee,R_sol);
figure('Name','Reconstruction 3D','Position',[0.1*L,0,L,H]);
affichage_3D(I_1,p_1_apparies,Q,t_estimee,R_sol);