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lk.backup.cpp
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lk.backup.cpp
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// Copyright 2011 Zdenek Kalal
//
// This file is part of TLD.
//
// TLD is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// TLD is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with TLD. If not, see <http://www.gnu.org/licenses/>.
#include "mex.h"
#include "cv.h"
#include "highgui.h"
IplImage *grey1 = 0, *grey0 = 0, *pyramid1 = 0, *pyramid0 = 0;
int win_size = 5;
CvPoint2D32f* points[2] = {0,0};
void loadImageFromMatlab(const mxArray *mxImage, IplImage *image) {
unsigned char *values = (unsigned char *) mxGetPr(mxImage);
int widthStep = image->widthStep;
int N = mxGetN(mxImage); // width
int M = mxGetM(mxImage); // height
for(int i=0;i<N;i++)
for(int j=0;j<M;j++)
image->imageData[j*widthStep+i] = values[j+i*M];
}
void mexFunction(int plhs_size, mxArray *plhs[], int prhs_size, const mxArray *prhs[])
{
// Load images
if (prhs_size ==4) {
win_size = *mxGetPr(prhs[3]);
}
int N = mxGetN(prhs[0]);
int M = mxGetM(prhs[0]);
grey0 = cvCreateImage( cvSize(N, M), 8, 1 );
grey1 = cvCreateImage( cvSize(N, M), 8, 1 );
loadImageFromMatlab(prhs[0],grey0);
loadImageFromMatlab(prhs[1],grey1);
// Load feature points
double *fp = mxGetPr(prhs[2]);
int num_pts = mxGetN(prhs[2]);
points[0] = (CvPoint2D32f*)cvAlloc(num_pts*sizeof(points[0][0]));
points[1] = (CvPoint2D32f*)cvAlloc(num_pts*sizeof(points[0][0]));
char *status = (char*)cvAlloc(num_pts);
float *error = (float*) cvAlloc(num_pts*sizeof(float));
for (int i = 0; i < num_pts; i++) {
points[0][i].x = fp[2*i];
points[0][i].y = fp[2*i+1];
}
// neni treba, urychleni z fpt 40 -> fps 200
//cvFindCornerSubPix( grey0, points[0], num_pts, cvSize(win_size,win_size), cvSize(-1,-1), cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03));
pyramid1 = cvCreateImage( cvGetSize(grey1), 8, 1 );
pyramid0 = cvCreateImage( cvGetSize(grey1), 8, 1 );
cvCalcOpticalFlowPyrLK( grey0, grey1, pyramid0, pyramid1, points[0], points[1], num_pts, cvSize(win_size,win_size), 6, status, error, cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03), 0 );
// Output
plhs[0] = mxCreateDoubleMatrix(6, num_pts, mxREAL);
double *output = mxGetPr(plhs[0]);
for (int i = 0; i < num_pts; i++) {
output[6*i] = (double) points[0][i].x;
output[6*i+1] = (double) points[0][i].y;
output[6*i+2] = (double) points[1][i].x;
output[6*i+3] = (double) points[1][i].y;
output[6*i+4] = (double) error[i];
output[6*i+5] = (double) status[i];
//output[5*i+5] = (double) error[i];
}
// Tidy up
cvReleaseImage( &pyramid0 );
cvReleaseImage( &pyramid1 );
cvReleaseImage( &grey0 );
cvReleaseImage( &grey1 );
return;
}