initial sd-vbs

initial sd-vbs

add sd-vbs

sd-vbs

1 files changed, 85 insertions, 0 deletions

diff --git a/SD-VBS/common/toolbox/lagrcv/calcOptFlowLKMex.cc b/SD-VBS/common/toolbox/lagrcv/calcOptFlowLKMex.cc
new file mode 100755
index 0000000..e22af8b
--- /dev/null
+++ b/SD-VBS/common/toolbox/lagrcv/calcOptFlowLKMex.cc
@@ -0,0 +1,85 @@
+
+/* compile with 
+rm liblagrcv.a
+gcc -c lagrcv.cpp
+ar rc liblagrcv.a lagrcv.o
+ranlib liblagrcv.a
+mex7 calcTextureMex.cc -L/home/ikkjin/LagrMatlab/opencv/matlab -llagrcv -I/home/ikkjin/LagrMatlab/opencv/matlab/
+*/
+
+#include "mex.h"
+#include "lagrcv.h"
+#include <stdio.h>
+#include <math.h>
+
+#ifndef MAX_LEVEL
+#       define MAX_LEVEL 5
+#endif
+// TODO: add number of corners parameter
+void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) {
+  // usage: [newFeaturePnt validFlag ] = 
+  //   calcOptFlowLKMex(I, Idx, Idy, J, c_xx, c_xy, c_yy, featurePnt, initialPnt, winSize, accuracy_th, max_iter)
+  // featurePnt 2xn int
+  // winSize c_level int
+  // c_xx c_xy c_yy: image size double*
+  // image must be double
+
+  
+  const int* imdims;
+  const int *nFeatures;
+  double *imgI, *iDx, *iDy, *imgJ, *c_xx, *c_xy, *c_yy;
+  double *fPnt, *initPnt, *newFPnt; 
+  char* valid;
+  double accuracy_th;
+  int winSize, max_iter;
+
+  if (nrhs > 10) {
+        accuracy_th=(double)mxGetScalar(prhs[10]);
+        max_iter=(int)mxGetScalar(prhs[11]);
+  }
+        
+  winSize = (int)mxGetScalar(prhs[9]);
+  initPnt=(double*)mxGetPr(prhs[8]);
+  fPnt=(double*)mxGetPr(prhs[7]);
+  c_xx=(double*)mxGetPr(prhs[6]);
+  c_xy=(double*)mxGetPr(prhs[5]);
+  c_yy=(double*)mxGetPr(prhs[4]);
+  imgJ=(double*)mxGetPr(prhs[3]);
+  iDy=(double*)mxGetPr(prhs[2]);
+  iDx=(double*)mxGetPr(prhs[1]);
+  imgI=(double*)mxGetPr(prhs[0]);
+  nFeatures=mxGetDimensions(prhs[7]);
+  imdims=mxGetDimensions(prhs[0]);
+
+  plhs[0] = mxCreateNumericMatrix(nFeatures[0], nFeatures[1], mxDOUBLE_CLASS, mxREAL);
+  plhs[1] = mxCreateNumericMatrix(1, nFeatures[1], mxUINT8_CLASS, mxREAL);
+
+  newFPnt = (double*)mxGetPr(plhs[0]);
+  valid = (char*)mxGetPr(plhs[1]);
+
+  //idx convert from matlab to c
+  for(int i=0; i<nFeatures[1]; i++){
+        fPnt[i*2]=fPnt[i*2]-1;
+        fPnt[i*2+1]=fPnt[i*2+1]-1;
+        initPnt[i*2]=initPnt[i*2]-1;
+        initPnt[i*2+1]=initPnt[i*2+1]-1;
+        valid[i]=1;
+  }
+  if(nrhs>10){
+        calcLKTrack( imgI, iDx, iDy, imgJ, imdims, 
+         c_xx, c_xy, c_yy,
+         fPnt, initPnt, nFeatures[1], winSize, 
+         newFPnt, valid, accuracy_th, max_iter); 
+  }else{        
+        calcLKTrack( imgI, iDx, iDy, imgJ, imdims,
+         c_xx, c_xy, c_yy,
+         fPnt, initPnt, nFeatures[1], winSize, 
+         newFPnt, valid); 
+  }
+  //idx convert from matlab to c
+  for(int i=0; i<nFeatures[1]*2; i++){
+        fPnt[i]=fPnt[i]+1;
+        initPnt[i]=initPnt[i]+1;
+        newFPnt[i]=newFPnt[i]+1;
+  }
+}