openc基于SIFT和Surf特征的目标跟踪

这里是基于Opencv的SIFT和SURF特征进行目标跟踪的源代码，但是代码还有错误，找不到错误的来由

#include “FeatureTraker.h“
#include 
#include 
#include “opencv2/calib3d/calib3d.hpp“
#include “opencv2/contrib/contrib.hpp“
#include “opencv2/features2d/features2d.hpp“
#include “opencv2/objdetect/objdetect.hpp“
#include “opencv2/imgproc/imgproc.hpp“
#include “opencv2/imgproc/imgproc_c.h“
#include “opencv2/core/internal.hpp“
#include “opencv2/nonfree/nonfree.hpp“

using namespace cv;

FeatureTraker::FeatureTraker（CvFeatureTrackerParams _params） :
params（_params）
{
	initModule_nonfree（）;
	switch （params.feature_type）
	{
	case CvFeatureTrackerParams::SIFT:
		dd = Algorithm::create（“Feature2D.SIFT“）;
		if（ dd.empty（） ）
			CV_Error（CV_StsNotImplemented “OpenCV has been compiled without SIFT support“）;
		dd->set（“nOctavelayers“ 5）;
		dd->set（“contrastThreshold“ 0.04）;
		dd->set（“edgeThreshold“ 10.7）;
		break;
	case CvFeatureTrackerParams::SURF:
		dd = Algorithm::create（“Feature2D.SURF“）;
		if（ dd.empty（） ）
			CV_Error（CV_StsNotImplemented “OpenCV has been compiled without SURF support“）;
		dd->set（“hessianThreshold“ 400）;
		dd->set（“nOctaves“ 3）;
		dd->set（“nOctavelayers“ 4）;
		break;
	default:
		CV_Error（CV_StsBadArg “Unknown feature type“）;
		break;
	}

	matcher = new BFMatcher（NORM_L2）;
}

FeatureTraker::FeatureTraker（）
{
}

FeatureTraker::~FeatureTraker（）
{
}

void FeatureTraker::newTrackingWindow（Mat image Rect selection）
{
	image.copyTo（prev_image）;
	cvtColor（prev_image prev_image_bw CV_BGR2GRAY）;
	prev_trackwindow = selection;
	prev_center.x = selection.x;
	prev_center.y = selection.y;
	ittr = 0;
}

Rect FeatureTraker::updateTrackingWindow（Mat image）
{
	if（params.feature_type == CvFeatureTrackerParams::OPTICAL_FLOW）
		return updateTrackingWindowWithFlow（image）;
	else
		return updateTrackingWindowWithSIFT（image）;
}

Rect FeatureTraker::updateTrackingWindowWithSIFT（Mat image）
{
	ittr++;
	vector prev_keypoints curr_keypoints;
	vector prev_keys curr_keys;
	Mat prev_desc curr_desc;

	Rect window = prev_trackwindow;
	Mat mask = Mat::zeros（image.size（） CV_8UC1）;
	rectangle（mask Point（window.x window.y） Point（window.x + window.width
		window.y + window.height） Scalar（255） CV_FILLED）;

	dd->operator（）（prev_image mask prev_keypoints prev_desc）;

	window.x -= params.window_size;
	window.y -= params.window_size;
	window.width += params.window_size;
	window.height += params.window_size;
	rectangle（mask Point（window.x window.y） Point（window.x + window.width
		window.y + window.height） Scalar（255） CV_FILLED）;

	dd->operator（）（image mask curr_keypoints curr_desc）;

	if （prev_keypoints.size（） > 4 && curr_keypoints.size（） > 4）
	{
		//descriptor->compute（prev_image prev_keypoints prev_desc）;
		//descriptor->compute（image curr_keypoints curr_desc）;

		matcher->match（prev_desc curr_desc matches）;

		for （int i = 0; i < （int）matches.size（）; i++）
		{
			prev_keys.push_back（prev_keypoints[matches[i].queryIdx].pt）;
			curr_keys.push_back（curr_keypoints[matches[i].train

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----

     文件     133632  2013-06-27 17:11  FeatureTracking\Debug\FeatureTracking.exe

     文件     723172  2013-06-27 17:11  FeatureTracking\Debug\FeatureTracking.ilk

     文件    1666048  2013-06-27 17:11  FeatureTracking\Debug\FeatureTracking.pdb

     文件       7650  2013-06-27 17:11  FeatureTracking\FeatureTracking\Debug\BuildLog.htm

     文件        621  2013-06-27 17:11  FeatureTracking\FeatureTracking\Debug\FeatureTracking.exe.intermediate.manifest

     文件     474692  2013-06-27 17:11  FeatureTracking\FeatureTracking\Debug\FeatureTraker.obj

     文件     139138  2013-06-27 17:11  FeatureTracking\FeatureTracking\Debug\main.obj

     文件         67  2013-06-27 17:11  FeatureTracking\FeatureTracking\Debug\mt.dep

     文件     543744  2013-06-27 17:11  FeatureTracking\FeatureTracking\Debug\vc90.idb

     文件    1044480  2013-06-27 17:11  FeatureTracking\FeatureTracking\Debug\vc90.pdb

     文件       4697  2013-06-27 16:19  FeatureTracking\FeatureTracking\FeatureTracking.vcproj

     文件       1427  2013-06-27 17:15  FeatureTracking\FeatureTracking\FeatureTracking.vcproj.DY5A4OBOCPYFOX7.Administrator.user

     文件       5379  2013-06-27 17:08  FeatureTracking\FeatureTracking\FeatureTraker.cpp

     文件       1324  2013-06-27 16:23  FeatureTracking\FeatureTracking\FeatureTraker.h

     文件       2943  2013-06-27 17:15  FeatureTracking\FeatureTracking\main.cpp

     文件       7420  2013-06-27 16:23  FeatureTracking\FeatureTracking\Release\BuildLog.htm

     文件    1221941  2013-06-27 16:06  FeatureTracking\FeatureTracking\Release\featuretracker.obj

     文件        616  2013-06-27 16:23  FeatureTracking\FeatureTracking\Release\FeatureTracking.exe.intermediate.manifest

     文件    1222612  2013-06-27 16:18  FeatureTracking\FeatureTracking\Release\FeatureTraker.obj

     文件    1009858  2013-06-27 15:24  FeatureTracking\FeatureTracking\Release\hybridtracker.obj

     文件    1102698  2013-06-27 16:23  FeatureTracking\FeatureTracking\Release\main.obj

     文件         67  2013-06-27 16:23  FeatureTracking\FeatureTracking\Release\mt.dep

     文件    1068986  2013-06-27 16:02  FeatureTracking\FeatureTracking\Release\precomp.obj

     文件     265216  2013-06-27 16:23  FeatureTracking\FeatureTracking\Release\vc90.idb

     文件     839680  2013-06-27 16:23  FeatureTracking\FeatureTracking\Release\vc90.pdb

     文件    3419136  2013-06-27 17:15  FeatureTracking\FeatureTracking.ncb

     文件        911  2013-06-27 14:18  FeatureTracking\FeatureTracking.sln

    ..A..H.     46592  2013-06-27 17:15  FeatureTracking\FeatureTracking.suo

     文件      32256  2013-06-27 16:23  FeatureTracking\Release\FeatureTracking.exe

     文件    1092608  2013-06-27 16:23  FeatureTracking\Release\FeatureTracking.pdb

............此处省略9个文件信息