%?demonstrates?sparse?optical?flow
disp（‘===========================‘）;
clear?all;?dbstop?error;?close?all;

%?read?images?from?file
I1p?=?imread（‘../img/I1p.png‘）;
I1c?=?imread（‘../img/I1c.png‘）;
%I1p?=?rgb2gray（imread（‘/home/geiger/test_data/2013_04_29_drive_0018_extract/image_03/data/0000000336.png‘））;
%I1c?=?rgb2gray（imread（‘/home/geiger/test_data/2013_04_29_drive_0018_extract/image_03/data/0000000337.png‘））;

%?matching?parameters
param.nms_n??????????????????=?4;???%?non-max-suppression:?min.?distance?between?maxima?（in?pixels）
param.nms_tau????????????????=?50;??%?non-max-suppression:?interest?point?peakiness?threshold
param.match_binsize??????????=?50;??%?matching?bin?width/height?（affects?efficiency?only）
param.match_radius???????????=?200;?%?matching?radius?（du/dv?in?pixels）
param.match_disp_tolerance???=?1;???%?du?tolerance?for?stereo?matches?（in?pixels）
param.outlier_disp_tolerance?=?5;???%?outlier?removal:?disparity?tolerance?（in?pixels）
param.outlier_flow_tolerance?=?5;???%?outlier?removal:?flow?tolerance?（in?pixels）
param.multi_stage????????????=?1;???%?0=disabled1=multistage?matching?（denser?and?faster）
param.half_resolution????????=?0;???%?0=disabled1=match?at?half?resolution?refine?at?full?resolution
param.refinement?????????????=?2;???%?refinement?（0=none1=pixel2=subpixel）

%?init?matcher
matcherMex（‘init‘param）;

%?push?back?images
matcherMex（‘push‘I1p）;
tic
matcherMex（‘push‘I1c）;
disp（[‘Feature?detection:?‘?num2str（toc）?‘?seconds‘]）;

%?match?images
tic;?matcherMex（‘match‘0）;
p_matched?=?matcherMex（‘get_matches‘0）;
disp（[‘Feature?matching:??‘?num2str（toc）?‘?seconds‘]）;

%?close?matcher
matcherMex（‘close‘）;

%?show?matching?results
disp（[‘Number?of?matched?points:?‘?num2str（length（p_matched））]）;
disp（‘Plotting?...‘）;
plotMatch（I1cp_matched0）;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件?????????455??2013-09-09?10:22??CMakeLists.txt
?????文件????????5196??2013-09-09?10:22??readme.txt
?????文件????????1517??2013-09-09?10:22??matlab\plotMatch.m
?????文件?????????895??2013-11-07?21:07??matlab\plotTrack.m
?????文件?????????734??2013-10-03?08:47??matlab\make.m
?????文件????????4330??2013-09-09?10:22??src\demo.cpp
?????文件???????20909??2013-09-09?10:22??src\filter.cpp
?????文件???????56468??2013-10-03?08:40??src\matcher.cpp
?????文件???????23050??2013-09-09?10:22??src\matrix.cpp
?????文件???????11154??2013-09-09?10:22??src\reconstruction.cpp
?????文件??????390391??2013-11-07?20:48??src\triangle.cpp
?????文件????????2929??2013-09-09?10:22??src\viso.cpp
?????文件???????11410??2013-09-09?10:22??src\viso_mono.cpp
?????文件???????10611??2013-10-03?08:47??src\viso_stereo.cpp
?????文件????????4019??2013-09-09?10:22??src\filter.h
?????文件???????11143??2013-10-03?08:42??src\matcher.h
?????文件????????5068??2013-09-09?10:22??src\matrix.h
?????文件????????3629??2013-09-09?10:22??src\reconstruction.h
?????文件????????2428??2013-09-09?10:22??src\timer.h
?????文件???????21824??2013-11-07?20:48??src\triangle.h
?????文件????????5518??2013-09-09?10:22??src\viso.h
?????文件????????3696??2013-09-09?10:22??src\viso_mono.h
?????文件????????3492??2013-09-09?10:22??src\viso_stereo.h
?????文件??????293173??2013-09-09?10:22??img\I1_000000.png
?????文件??????293480??2013-09-09?10:22??img\I1_000001.png
?????文件??????293486??2013-09-09?10:22??img\I1_000002.png
?????文件??????293065??2013-09-09?10:22??img\I1_000003.png
?????文件??????292534??2013-09-09?10:22??img\I1_000004.png
?????文件??????292798??2013-09-09?10:22??img\I1_000005.png
?????文件??????293265??2013-09-09?10:22??img\I1_000006.png
?????文件??????282432??2013-09-09?10:22??img\I1c.png
............此處省略14個文件信息