clc;
clear;
run（‘C:\Users\Fxy\Desktop\vlfeat-0.9.20-bin\vlfeat-0.9.20\toolbox\vl_setup‘）
file_path?=‘.\rect\‘;%?圖像文件夾路徑
img_path_list?=?dir（strcat（file_path‘*.jpg‘））;%獲取該文件夾中所有圖像
ttt?=?length（img_path_list）;%獲取圖像總數(shù)量
for?num=1:ttt??
????image_name?=?img_path_list（num）.name;%?圖像名
????img（::num）=rgb2gray（imread（strcat（file_pathimage_name）））;
%?????img（::num）=single（img（::num））;
end

K=[2900.120791.168;02890.56656.275;001];
cameraParams?=?cameraParameters（‘IntrinsicMatrix‘K‘）;
img（::1）?=?undistortImage（img（::1）?cameraParams）;????
prevPoints_a?=?detectSURFFeatures（img（::1））;
prevPoints_b?=?detectHarrisFeatures（img（::1））;
%?prevPoints?=?vl_sift（img（::1））;
%prevPoints?=?detectMinEigenFeatures（img（::1））;
%prevPoints?=?detectBRISKFeatures（img（::1））;
prevFeatures_a?=?extractFeatures（img（::1）prevPoints_a）;
prevFeatures_b?=?extractFeatures（img（::1）prevPoints_b）;
prevLoc=[prevPoints_a.Location;prevPoints_b.Location];
vSet?=?viewSet;
viewId?=?1;
vSet?=?addView（vSet?viewId?‘Points‘?prevLoc?‘Orientation‘?...
????eye（3?‘like‘?prevLoc）?‘Location‘?...
????zeros（1?3?‘like‘?prevLoc））;

for?i?=?2:ttt
????I?=?undistortImage（img（::i）?cameraParams）;??????????????????????????%去畸變；
????currPoints_a=?detectSURFFeatures（I）;
????currPoints_b=?detectHarrisFeatures（I）;
%?????currPoints_a.Location=round（currPoints_a.Location）;
%?????currPoints_b.Location=round（currPoints_b.Location）;
%?????for?k=1:size（currPoints1）
%??????????if?（ismember（currPoints.Location（k1）currPoints1.Location（:1）））
%??????????????currPoints（k）=[];
%??????????end
%?????end???????
????currFeatures_a?=?extractFeatures（I?currPoints_a）;
????currFeatures_b?=?extractFeatures（I?currPoints_b）;
????indexPairs_a?=?matchFeatures（prevFeatures_a?currFeatures_a）;
????indexPairs_b=?matchFeatures（prevFeatures_b?currFeatures_b）;
????indexPairs=vertcat（indexPairs_aindexPairs_b+size（currFea