Dringende Hilfe brauche - Optical Flow zw. zwei Bildern mit OpenCV zu berechen

//#include "StdAfx.h"
#include <opencv/cv.h>
#include <opencv/cxcore.h>
#include <opencv/highgui.h>
#include <stdio.h>
#include <stdlib.h>
 
const int MAX_CORNERS = 500;
int main(int argc, char** argv) {
   // Initialize, load two images from the file system, and
   // allocate the images and other structures we will need for
   // results.
    //
    IplImage* imgA = cvLoadImage("webcam001.png", CV_LOAD_IMAGE_GRAYSCALE);
    IplImage* imgB = cvLoadImage("webcam002.png", CV_LOAD_IMAGE_GRAYSCALE);
    CvSize img_sz = cvGetSize( imgA );
    int win_size = 10;
    IplImage* imgC = cvLoadImage("OpticalFlow1.jpg",CV_LOAD_IMAGE_UNCHANGED);

    // The first thing we need to do is get the features
    // we want to track.
    //
    IplImage* eig_image = cvCreateImage( img_sz, IPL_DEPTH_32F, 1 );
    IplImage* tmp_image = cvCreateImage( img_sz, IPL_DEPTH_32F, 1 );
    int corner_count = MAX_CORNERS;
    CvPoint2D32f *cornersA = new CvPoint2D32f[MAX_CORNERS];
    cvGoodFeaturesToTrack(
        imgA,
        eig_image,
        tmp_image,
        cornersA,
        &corner_count,
        0.01,
        5.0,
        0,
        3,
        0,
        0.04
    );
    cvFindCornerSubPix(
        imgA,
        cornersA,
        corner_count,
        cvSize(win_size,win_size),
        cvSize(-1,-1),
        cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03)
    );
    // Call the Lucas Kanade algorithm
    //
    char features_found[ MAX_CORNERS ];
    float feature_errors[ MAX_CORNERS ];
    CvSize pyr_sz = cvSize( imgA->width+8, imgB->height/3 );
    IplImage* pyrA = cvCreateImage( pyr_sz, IPL_DEPTH_32F, 1 );
    IplImage* pyrB = cvCreateImage( pyr_sz, IPL_DEPTH_32F, 1 );
    CvPoint2D32f *cornersB = new CvPoint2D32f[MAX_CORNERS];
  cvCalcOpticalFlowPyrLK(
     imgA,
     imgB,
     pyrA,
     pyrB,
     cornersA,
     cornersB,
     corner_count,
     cvSize( win_size,win_size ),
     5,
     features_found,
     feature_errors,
     cvTermCriteria( CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, .3 ),
     0
  );
  // Now make some image of what we are looking at:
  //
  for( int i=0; i<corner_count; i++ ) {
     if( features_found[i]==0|| feature_errors[i]>550 ) {
 //       printf("Error is %f/n",feature_errors[i]);
        continue;
     }
 //    printf("Got it/n");
     CvPoint p0 = cvPoint(
        cvRound( cornersA[i].x ),
        cvRound( cornersA[i].y )
     );
     CvPoint p1 = cvPoint(
        cvRound( cornersB[i].x ),
        cvRound( cornersB[i].y )
     );
     cvLine( imgC, p0, p1, CV_RGB(255,0,0),2, CV_AA, 0 );
  }
  cvNamedWindow("ImageA",0);
  cvNamedWindow("ImageB",0);
  cvNamedWindow("LKpyr_OpticalFlow",0);
  cvShowImage("ImageA",imgA);
  cvShowImage("ImageB",imgB);
  cvShowImage("LKpyr_OpticalFlow",imgC);
  cvWaitKey(0);
  return 0;
}