对两帧图像进行ICM调试.包含内容：1估计姿态和摄像机内参数；2两幅图做四次金字塔；3利用输入特征点采用ransac算法估计姿态R, T。4sift特征匹配；5摄像机标定。-ICM images on two debugging. Contains: 1 Estimated posture and intrinsic parameters　2 two plans to do four pyramids　3 using the input feature points using ransac algorithm estimates gesture R, T. 4sift feature matching　5 camera calibration.