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

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

VideoCapture?cap（0）;
static?int?resolution_width?=?640;
static?int?resolution_height?=?480;
static?int?num_track?=?4;

double?camD[9]?=?{618.526381968738?0?310.8963715614199
	0?619.4548980786033?248.6374860176724
	0?0?1};
double?distCoeffD[5]?=?{0.09367405350511771?-0.08731677320554751?0.002823563134787144?-1.246739177460954e-005?-0.0469061739387372};
Mat?camera_matrix?=?Mat（33CV_64FC1camD）;
Mat?distortion_coefficients?=?Mat（51CV_64FC1distCoeffD）;

vector?objP;
Mat?objPM;
vector?rv（3）?tv（3）;
Mat?rvecm（rv）tvecm（tv）;?


Mat?gray?prevGray?image?frame;
vector?points[2];
vector?keypoints;
vector?initPoints;
vector?recoveryPoints;
vector?projectedPoints;
vector?goodfeatures;
bool?initflag?=?true;
bool?needToGetgf?=?false;
bool?needtomap?=?false;
bool?needtokeeptime?=?false;

const?int?MAX_COUNT?=?500;
size_t?trackingpoints?=?0;

Mat?initdescriptors;

string?msg;
int?baseLine;
Size?textSize;

DWORD?t1t2;
int?framenum?=?0;

TermCriteria?termcrit（CV_TERMCRIT_ITER|CV_TERMCRIT_EPS?30?0.01）;
Size?subPixWinSize（1010）winSize（2121）;


static?void?help（）
{
	//?print?a?welcome?message?and?the?OpenCV?version	
	cout?<\n“
		“\nUser:?cc.\n“
		“\nUsing?OpenCV?version?“?<	cout?<		“????Tracking:?\n“
		“\tESC?-?quit?the?program\n“
		“\tg?-?get?the?good?corners\n“
		“\tc?-?delete?all?the?points\n“
		“\tm?-?choose?four?points?to?track?and?update?camera?pose?then\n“
		“\t\t（To?add?a?tracking?point?please?click?that?point）\n“?
		“????Generation:?\n“
		“\tESC?-?quit?the?program\n“
		“\te?-?change?the?view?mode\n“<
}

void?on_mouse（int?eventint?xint?yint?flag?void?*param）
{
	if（event==CV_EVENT_LBUTTONDOWN）
	{
		if（needtomap?&&?points[1].size（）		{
			for（size_t?i?=?0;i			{
				if（abs（goodfeatures[i].x-x）+abs（goodfeatures[i].y-y）<5）
				{
					points[1].push_back（goodfeatures[i]）;
					initPoints.push_back（keypoints[i]）;
					trackingpoints++;
					break;
				}
			}
			Mat?temp;
			image.copyTo（temp）;
			for（size_t?i?=?0;?i?			{
				circle（?temp?points[1][i]?3?Scalar（00255）?-1?8）;
			}

			msg?=?format（?“Resolution:?%d?*?%d.??Corner?number:?%d.??Tracked?points:?%d“（int）cap.get（CV_CAP_PROP_frame_WIDTH）（int）cap.get（CV_CAP_PROP_frame_HEIGHT）goodfeatures.size（）trackingpoints）;
			baseLine?=?0;
			textSize?=

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????4756??2015-11-02?17:28??cPTAM_2.0\cPTAM_2.0\cPTAM_2.0.vcxproj

?????文件????????941??2015-09-18?16:35??cPTAM_2.0\cPTAM_2.0\cPTAM_2.0.vcxproj.filters

?????文件????????164??2015-11-02?16:48??cPTAM_2.0\cPTAM_2.0\cPTAM_2.0.vcxproj.user

?????文件????????720??2015-11-02?16:36??cPTAM_2.0\cPTAM_2.0\Debug\cl.command.1.tlog

?????文件??????33262??2015-11-02?16:36??cPTAM_2.0\cPTAM_2.0\Debug\CL.read.1.tlog

?????文件????????492??2015-11-02?16:36??cPTAM_2.0\cPTAM_2.0\Debug\CL.write.1.tlog

?????文件?????????94??2015-11-02?16:36??cPTAM_2.0\cPTAM_2.0\Debug\cPTAM_2.0.lastbuildstate

?????文件???????2447??2015-11-02?17:28??cPTAM_2.0\cPTAM_2.0\Debug\cPTAM_2.0.log

?????文件????????720??2015-11-02?17:28??cPTAM_2.0\cPTAM_2.0\Debug\cPTAM_2.0.tlog\cl.command.1.tlog

?????文件??????33554??2015-11-02?17:28??cPTAM_2.0\cPTAM_2.0\Debug\cPTAM_2.0.tlog\CL.read.1.tlog

?????文件????????664??2015-11-02?17:28??cPTAM_2.0\cPTAM_2.0\Debug\cPTAM_2.0.tlog\CL.write.1.tlog

?????文件????????194??2015-11-02?17:28??cPTAM_2.0\cPTAM_2.0\Debug\cPTAM_2.0.tlog\cPTAM_2.0.lastbuildstate

?????文件???????2244??2015-11-02?17:28??cPTAM_2.0\cPTAM_2.0\Debug\cPTAM_2.0.tlog\link.command.1.tlog

?????文件???????5640??2015-11-02?17:28??cPTAM_2.0\cPTAM_2.0\Debug\cPTAM_2.0.tlog\link.read.1.tlog

?????文件????????648??2015-11-02?17:28??cPTAM_2.0\cPTAM_2.0\Debug\cPTAM_2.0.tlog\link.write.1.tlog

?????文件??????????2??2015-11-02?16:36??cPTAM_2.0\cPTAM_2.0\Debug\link-cvtres.read.1.tlog

?????文件??????????2??2015-11-02?16:36??cPTAM_2.0\cPTAM_2.0\Debug\link-cvtres.write.1.tlog

?????文件??????????2??2015-11-02?16:36??cPTAM_2.0\cPTAM_2.0\Debug\link-rc.read.1.tlog

?????文件??????????2??2015-11-02?16:36??cPTAM_2.0\cPTAM_2.0\Debug\link-rc.write.1.tlog

?????文件??????????2??2015-11-02?16:36??cPTAM_2.0\cPTAM_2.0\Debug\link.10188-cvtres.read.1.tlog

?????文件??????????2??2015-11-02?16:36??cPTAM_2.0\cPTAM_2.0\Debug\link.10188-cvtres.write.1.tlog

?????文件??????????2??2015-11-02?16:36??cPTAM_2.0\cPTAM_2.0\Debug\link.10188-rc.read.1.tlog

?????文件??????????2??2015-11-02?16:36??cPTAM_2.0\cPTAM_2.0\Debug\link.10188-rc.write.1.tlog

?????文件??????????2??2015-11-02?16:36??cPTAM_2.0\cPTAM_2.0\Debug\link.10188.read.1.tlog

?????文件??????????2??2015-11-02?16:36??cPTAM_2.0\cPTAM_2.0\Debug\link.10188.write.1.tlog

?????文件??????????2??2015-11-02?16:36??cPTAM_2.0\cPTAM_2.0\Debug\link.10664-cvtres.read.1.tlog

?????文件??????????2??2015-11-02?16:36??cPTAM_2.0\cPTAM_2.0\Debug\link.10664-cvtres.write.1.tlog

?????文件??????????2??2015-11-02?16:36??cPTAM_2.0\cPTAM_2.0\Debug\link.10664-rc.read.1.tlog

?????文件??????????2??2015-11-02?16:36??cPTAM_2.0\cPTAM_2.0\Debug\link.10664-rc.write.1.tlog

?????文件??????????2??2015-11-02?16:36??cPTAM_2.0\cPTAM_2.0\Debug\link.10664.read.1.tlog

............此處省略108個文件信息