First commit

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.10)
+project(cSfM)
+
+find_package(OpenCV 3.4.1 REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(Ceres QUIET)
+
+set(CMAKE_CXX_STANDARD 11)
+
+add_definitions("-DCERES_FOUND=1")
+list(APPEND LIBMV_LIGHT_LIBS simple_pipeline)
+list(APPEND LIBMV_LIGHT_INCLUDES "${CERES_INCLUDE_DIR}")
+
+list (FIND CERES_COMPILED_COMPONENTS "C++11" _index)
+if (${_index} GREATER -1)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+endif()
+
+set(SOURCE_FILES main.cpp)
+add_executable(cSfM main.cpp cSfM.h)
+target_link_libraries(cSfM ${OpenCV_LIBS})

cSfM.h

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+//
+// Created by Andrew Dahdouh
+//
+
+#include "opencv2/core.hpp"
+#include "opencv2/features2d.hpp"
+#include "opencv2/imgcodecs.hpp"
+#include "opencv2/highgui.hpp"
+#include "opencv2/xfeatures2d.hpp"
+#include "opencv2/calib3d/calib3d.hpp"
+
+#ifndef CSFM_CSFM_H
+#define CSFM_CSFM_H
+
+using namespace cv;
+using namespace std;
+using namespace cv::xfeatures2d;
+
+void findKeypoints(Mat& img1, vector<KeyPoint>& keypoints_1,  Mat& img2, vector<KeyPoint>& keypoints_2,
+                   vector<DMatch>& valid_matches )
+{
+
+    int minHessian = 400;
+    Ptr<SURF> detector = SURF::create();
+    detector->setHessianThreshold(minHessian);
+
+//    vector<KeyPoint> keypoints_1, keypoints_2;
+    Mat descriptors_1, descriptors_2;
+    detector->detectAndCompute( img1, Mat(), keypoints_1, descriptors_1 );
+    detector->detectAndCompute( img2, Mat(), keypoints_2, descriptors_2 );
+
+    //-- Step 2: Matching descriptor vectors using FLANN matcher
+    FlannBasedMatcher matcher;
+    std::vector< DMatch > matches;
+    matcher.match( descriptors_1, descriptors_2, matches );
+    double max_dist = 0; double min_dist = 100;
+    //-- Quick calculation of max and min distances between keypoints
+    for( int i = 0; i < descriptors_1.rows; i++ )
+    { double dist = matches[i].distance;
+        if( dist < min_dist ) min_dist = dist;
+        if( dist > max_dist ) max_dist = dist;
+    }
+    printf("-- Max dist : %f \n", max_dist );
+    printf("-- Min dist : %f \n", min_dist );
+    //-- Draw only "good" matches (i.e. whose distance is less than 2*min_dist,
+    //-- or a small arbitary value ( 0.02 ) in the event that min_dist is very
+    //-- small)
+    //-- PS.- radiusMatch can also be used here.
+    std::vector< DMatch > good_matches;
+    for( int i = 0; i < descriptors_1.rows; i++ )
+    { if( matches[i].distance <= max(2*min_dist, 0.02) )
+        { valid_matches.push_back( matches[i]); }
+    }
+
+    //-- Draw only "good" matches
+    Mat img_matches;
+    drawMatches( img1, keypoints_1, img2, keypoints_2,
+                 valid_matches, img_matches, Scalar::all(-1), Scalar::all(-1),
+                 vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
+    //-- Show detected matches
+    imshow( "Good Matches", img_matches );
+
+    waitKey(0);
+
+}
+
+void reconstruct_image_pair(vector<Mat>& points2d, vector<Mat>& Rs_est, vector<Mat>& ts_est, Matx33d& K, vector<Mat>& points3d_estimated)
+{
+    cout << "Reconstructing...." << endl;
+}
+
+
+
+#endif //CSFM_CSFM_H