#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(diǎn)，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;

		vector?key_points;
		Mat?descriptor;
		//偶爾出現(xiàn)內(nèi)存分配失敗的錯誤
		sift->detectAndCompute（image?noArray（）?key_points?descriptor）;

		//特征點(diǎn)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(diǎn)和匹配距離過大的點(diǎn)
		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(diǎn)
		matches.push_back（knn_matches[r][0]）;
	}
}

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

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

	double?feasible_count?=?countNonZero（mask）;
	cout?<	//對于RANSAC而言，outlier數(shù)量大于50%時，結(jié)果是不可靠的
	if?（feasible_count?<=?15?||?（feasible_count?/?p1.size（））?		return?false;

	//分解本征矩陣，獲取相對變換
	int?pass_count?=?recoverPose（E?p1?p2?R?T?focal_length?principle_point?mask）;

	//同時位于兩個相機(jī)前方的點(diǎn)的數(shù)量要足夠大
	if?（（（double）pass_count）?/?feasible_count?		return?false;

	return?true;
}

void?get_matched_points（
	vector&?p1?
	vector&?p2?
	vec

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件?????6363282??2008-09-17?15:42??0004.png
?????文件?????6365922??2008-09-17?15:43??0006.png
?????文件????????7030??2015-09-02?13:55??main.cpp
?????文件?????????898??2015-09-02?10:26??OpenCV_3_ex_x86.props
?????文件?????????903??2015-09-02?10:26??OpenCV_3_ex_x86d.props
?????目錄???????????0??2015-09-02?14:23??Release\
?????文件?????1822930??2015-09-02?14:23??Release\main.obj
?????文件???????44032??2015-09-02?14:23??Release\SequentialSfM.exe
?????文件????????2995??2015-09-02?14:23??Release\SequentialSfM.log
?????文件?????1200128??2015-09-02?14:23??Release\SequentialSfM.pdb
?????目錄???????????0??2015-09-02?14:23??Release\SequentialSfM.tlog\
?????文件?????????684??2015-09-02?14:23??Release\SequentialSfM.tlog\cl.command.1.tlog
?????文件???????18298??2015-09-02?14:23??Release\SequentialSfM.tlog\CL.read.1.tlog
?????文件?????????278??2015-09-02?14:23??Release\SequentialSfM.tlog\CL.write.1.tlog
?????文件????????1644??2015-09-02?14:23??Release\SequentialSfM.tlog\link.command.1.tlog
?????文件????????4204??2015-09-02?14:23??Release\SequentialSfM.tlog\link.read.1.tlog
?????文件?????????328??2015-09-02?14:23??Release\SequentialSfM.tlog\link.write.1.tlog
?????文件?????????165??2015-09-02?14:23??Release\SequentialSfM.tlog\SequentialSfM.lastbuildstate
?????文件??????888832??2015-09-02?14:23??Release\vc120.pdb
?????文件?????????971??2015-09-01?19:18??SequentialSfM.sln
?????文件????????4187??2015-09-01?19:37??SequentialSfM.vcxproj
?????文件?????????956??2015-09-01?19:22??SequentialSfM.vcxproj.filters
?????目錄???????????0??2015-09-02?12:59??Viewer\
?????文件?????4627456??2014-09-09?18:03??Viewer\Assimp32.dll
?????目錄???????????0??2015-09-02?12:58??Viewer\data\
?????文件???????????0??2014-09-09?18:03??Viewer\data\.gitkeep
?????文件??????289280??2014-09-09?18:03??Viewer\fmodex.dll
?????文件??????330752??2014-09-09?18:03??Viewer\fmodexL.dll
?????文件?????2713600??2014-09-09?18:03??Viewer\FreeImage.dll
?????文件??????364726??2014-09-09?18:03??Viewer\FreeType-6.dll
?????文件??????237568??2014-09-09?18:03??Viewer\glut32.dll
............此處省略7個文件信息