#include?
#include?
#include?
#include?
#include?
#include?

using?namespace?cv;
using?namespace?std;

void?extract_features（
	vector&?image_names
	vector>&?key_points_for_all
	vector&?descriptor_for_all
	vector>&?colors_for_all
	）
{
	key_points_for_all.clear（）;
	descriptor_for_all.clear（）;
	Mat?image;

	//讀取圖像，獲取圖像特征點，并保存
	Ptr?sift?=?xfeatures2d::SIFT::create（0?3?0.04?10）;
	for?（auto?it?=?image_names.begin（）;?it?!=?image_names.end（）;?++it）
	{
		image?=?imread（*it）;
		if?（image.empty（））?continue;

		cout?<
		vector?key_points;
		Mat?descriptor;
		//偶爾出現內存分配失敗的錯誤
		sift->detectAndCompute（image?noArray（）?key_points?descriptor）;

		//特征點過少，則排除該圖像
		if?（key_points.size（）?<=?10）?continue;

		key_points_for_all.push_back（key_points）;
		descriptor_for_all.push_back（descriptor）;

		vector?colors（key_points.size（））;
		for?（int?i?=?0;?i?		{
			Point2f&?p?=?key_points[i].pt;
			colors[i]?=?image.at（p.y?p.x）;
		}
		colors_for_all.push_back（colors）;
	}
}

void?match_features（Mat&?query?Mat&?train?vector&?matches）
{
	vector>?knn_matches;
	BFMatcher?matcher（NORM_L2）;
	matcher.knnMatch（query?train?knn_matches?2）;

	//獲取滿足Ratio?Test的最小匹配的距離
	float?min_dist?=?FLT_MAX;
	for?（int?r?=?0;?r?	{
		//Ratio?Test
		if?（knn_matches[r][0].distance?>?0.6*knn_matches[r][1].distance）
			continue;

		float?dist?=?knn_matches[r][0].distance;
		if?（dist?	}

	matches.clear（）;
	for?（size_t?r?=?0;?r?	{
		//排除不滿足Ratio?Test的點和匹配距離過大的點
		if?（
			knn_matches[r][0].distance?>?0.6*knn_matches[r][1].distance?||
			knn_matches[r][0].distance?>?5?*?max（min_dist?10.0f）
			）
			continue;

		//保存匹配點
		matches.push_back（knn_matches[r][0]）;
	}
}

void?match_features（vector&?descriptor_for_all?vector>&?matches_for_all）
{
	matches_for_all.clear（）;
	//?n個圖像，兩兩順次有?n-1?對匹配
	//?1與2匹配，2與3匹配，3與4匹配，以此類推
	for?（int?i?=?0;?i?riptor_for_all.size（）?-?1;?++i）
	{
		cout?<		vector?matches;
		match_features（descriptor_for_all[i]?descriptor_for_all[i?+?1]?matches）;
		matches_for_all.push_back（matches）;
	}
}

bool?find_transform（Mat&?K?vector&?p1?vector&?p2?Mat&?R?Mat&?T?Mat&?mask）
{
	//根據內參矩陣獲取相機的焦距和光心坐標（主點坐標）
	double?focal_length?=?0.5*（K.at（0）?+?K.at（4））;
	Point2d?principle_point（K.at（2）?K.at（5））;

	//根據匹配點求取本征矩陣，使用RANSAC，進一步排除失配點
	Mat?E?=?findEssentialMat（p1?p2?focal_length?principle_point?RANSAC?0.999?1.0?mask）;
	if?（E.empty（））?return?false;

	doubl

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2016-04-24?14:46??images\
?????文件?????6244540??2008-09-17?15:42??images\0001.png
?????文件?????6273917??2008-09-17?15:42??images\0002.png
?????文件?????6382709??2008-09-17?15:42??images\0003.png
?????文件???????12133??2016-04-24?13:56??main.cpp
?????文件?????????901??2016-04-23?14:01??OpenCV_3_ex_x86.props
?????文件?????????906??2016-04-23?14:01??OpenCV_3_ex_x86d.props
?????目錄???????????0??2016-04-24?14:18??Release\
?????文件?????2154749??2016-04-24?14:18??Release\main.obj
?????文件???????55296??2016-04-24?14:18??Release\SequentialSfM.exe
?????文件?????1564570??2016-04-24?14:18??Release\SequentialSfM.iobj
?????文件??????357024??2016-04-24?14:18??Release\SequentialSfM.ipdb
?????文件????????2125??2016-04-24?14:18??Release\SequentialSfM.log
?????文件?????1896448??2016-04-24?14:18??Release\SequentialSfM.pdb
?????目錄???????????0??2016-04-24?14:18??Release\SequentialSfM.tlog\
?????文件????????1430??2016-04-24?14:18??Release\SequentialSfM.tlog\cl.command.1.tlog
?????文件???????32516??2016-04-24?14:18??Release\SequentialSfM.tlog\CL.read.1.tlog
?????文件?????????290??2016-04-24?14:18??Release\SequentialSfM.tlog\CL.write.1.tlog
?????文件????????3322??2016-04-24?14:18??Release\SequentialSfM.tlog\link.command.1.tlog
?????文件????????4722??2016-04-24?14:18??Release\SequentialSfM.tlog\link.read.1.tlog
?????文件?????????580??2016-04-24?14:18??Release\SequentialSfM.tlog\link.write.1.tlog
?????文件?????????200??2016-04-24?14:18??Release\SequentialSfM.tlog\SequentialSfM.lastbuildstate
?????文件??????888832??2015-09-02?14:23??Release\vc120.pdb
?????文件?????1019904??2016-04-24?14:18??Release\vc140.pdb
?????文件?????????971??2015-09-01?19:18??SequentialSfM.sln
?????文件????????4407??2016-04-23?14:15??SequentialSfM.vcxproj
?????文件?????????956??2015-09-01?19:22??SequentialSfM.vcxproj.filters
?????目錄???????????0??2016-04-23?14:07??tinydir\
?????文件?????????359??2015-03-05?06:26??tinydir\.gitignore
?????文件?????????514??2015-03-05?06:26??tinydir\.travis.yml
?????文件????????1295??2015-03-05?06:26??tinydir\COPYING
............此處省略26個文件信息