void rectify(Mat& K1, Mat& R1, Mat& t1,
Mat& K2, Mat& R2, Mat& t2,
Size size,
Mat& T1, Mat& T2) {
Mat_<double> Kn1(3, 3), Kn2(3, 3);
Mat_<double> c1(3, 1), c2(3, 1),
v1(3, 1), v2(3, 1), v3(3, 1);
K1.copyTo(Kn1);
K2.copyTo(Kn2);
// optical centers
c1 = - R1.t() * t1;
c2 = - R2.t() * t2;
// x axis
v1 = c2 - c1;
// y axis
v2 = Mat(R1.row(2).t()).cross(v1);
// z axis
v3 = v1.cross(v2);
Mat_<double> m_R(3, 3);
v1 = v1 / norm(v1);
v2 = v2 / norm(v2);
v3 = v3 / norm(v3);
m_R(0, 0) = v1(0), m_R(0, 1) = v1(1), m_R(0, 2) = v1(2);
m_R(1, 0) = v2(0), m_R(1, 1) = v2(1), m_R(1, 2) = v2(2);
m_R(2, 0) = v3(0), m_R(2, 1) = v3(1), m_R(2, 2) = v3(2);
T1 = (Kn1 * m_R) * (R1.t() * K1.inv());
T2 = (Kn2 * m_R) * (R2.t() * K2.inv());
// Image center displacement
Mat_<double> o1(3, 1), o2(3, 1);
o1(0) = 0.5 * size.width, o1(1) = 0.5 * size.height, o1(2) = 1.0;
o2(0) = 0.5 * size.width, o2(1) = 0.5 * size.height, o2(2) = 1.0;
Mat_<double> on1(3, 1), on2(3, 1), d1(2, 1), d2(2, 1);
on1 = T1 * o1;
on2 = T2 * o2;
d1(0) = o1(0) - on1(0) / on1(2);
d1(1) = o1(1) - on1(1) / on1(2);
d2(0) = o2(0) - on2(0) / on1(2);
d2(1) = o2(1) - on2(1) / on1(2);
d1(1) = d2(1);
Kn1(0, 2) = Kn1(0, 2) + d1(0);
Kn1(1, 2) = Kn1(1, 2) + d1(1);
Kn2(0, 2) = Kn2(0, 2) + d2(0);
Kn2(1, 2) = Kn2(1, 2) + d2(1);
T1 = (Kn1 * m_R) * (R1.t() * K1.inv());
T2 = (Kn2 * m_R) * (R2.t() * K2.inv());
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
convert_value = 1.2607;
coma_here = false;
current_op = NONE;
operand_1 = 0.;
operand_2 = 0.;
connect(ui->actionQuitter, SIGNAL(triggered()), this, SLOT(close()));
connect(ui->actionA_propos, SIGNAL(triggered()), this, SLOT(onAPropos()));
connect(ui->actionA_propos_de_Qt, SIGNAL(triggered()), this, SLOT(onAProposDeQt()));
connect(ui->actionParam_tres_conversion, SIGNAL(triggered()), this, SLOT(onParametreConversion()));
connect(ui->pushButton_0, SIGNAL(clicked()), this, SLOT(on0()));
connect(ui->pushButton_1, SIGNAL(clicked()), this, SLOT(on1()));
connect(ui->pushButton_2, SIGNAL(clicked()), this, SLOT(on2()));
connect(ui->pushButton_3, SIGNAL(clicked()), this, SLOT(on3()));
connect(ui->pushButton_4, SIGNAL(clicked()), this, SLOT(on4()));
connect(ui->pushButton_5, SIGNAL(clicked()), this, SLOT(on5()));
connect(ui->pushButton_6, SIGNAL(clicked()), this, SLOT(on6()));
connect(ui->pushButton_7, SIGNAL(clicked()), this, SLOT(on7()));
connect(ui->pushButton_8, SIGNAL(clicked()), this, SLOT(on8()));
connect(ui->pushButton_9, SIGNAL(clicked()), this, SLOT(on9()));
connect(ui->pushButton_coma, SIGNAL(clicked()), this, SLOT(onComa()));
connect(ui->pushButton_equal, SIGNAL(clicked()), this, SLOT(onEqual()));
connect(ui->pushButton_divided, SIGNAL(clicked()), this, SLOT(onDivided()));
connect(ui->pushButton_plus, SIGNAL(clicked()), this, SLOT(onPlus()));
connect(ui->pushButton_minus, SIGNAL(clicked()), this, SLOT(onMinus()));
connect(ui->pushButton_times, SIGNAL(clicked()), this, SLOT(onMultiplicate()));
connect(ui->pushButton_dollar_euro, SIGNAL(clicked()), this, SLOT(onDollarEuro()));
connect(ui->pushButton_euro_dollar, SIGNAL(clicked()), this, SLOT(onEuroDollar()));
// shortcuts
QShortcut *scDel = new QShortcut(QKeySequence("Del"), this);
connect(scDel, SIGNAL(activated()), this, SLOT(clearLine()));
QShortcut *scBackspace = new QShortcut(QKeySequence("Backspace"), this);
connect(scBackspace, SIGNAL(activated()), this, SLOT(clearLastChar()));
// QShortcut *scEnter = new QShortcut(QKeySequence("Enter"), this);
// connect(scEnter, SIGNAL(activated()), this, SLOT(onEqual()));
// QShortcut *sc0 = new QShortcut(QKeySequence("0"), this);
// connect(scBackspace, SIGNAL(activated()), this, SLOT(on0()));
}
