1 files changed, 99 insertions, 0 deletions

diff --git a/SD-VBS/common/toolbox/lagrcv/calcOptFlowLKPyrMex.cc b/SD-VBS/common/toolbox/lagrcv/calcOptFlowLKPyrMex.cc
new file mode 100755
index 0000000..56ab3d0
--- /dev/null
+++ b/SD-VBS/common/toolbox/lagrcv/calcOptFlowLKPyrMex.cc
@@ -0,0 +1,99 @@
+
+/* 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 ] = 
+  //   calcOptFlowPyrLKMex(Ipyr, IdxPyr, IdyPyr, Jpyr, featurePnt, winSize, accuracy_th, max_iter)
+  // Ipyr, IdxPyr, IdyPyr, Jpyr: levelx1 size cell.
+  // featurePnt 2xn int
+  // winSize c_level int
+  // c_xx c_xy c_yy: image size double*
+  // image must be double
+
+  
+  const mxArray* imgArray;
+  int* imdims;
+  const int *curImgDims;
+  const int *nFeatures;
+  //double **iP, **iDxP, **iDyP, **jP; 
+  double *iP[MAX_LEVEL], *iDxP[MAX_LEVEL], *iDyP[MAX_LEVEL], *jP[MAX_LEVEL];
+  double *fPnt, *newFPnt; 
+  char* valid;
+  double accuracy_th;
+  int winSize, max_iter;
+  const int *cellDims = mxGetDimensions(prhs[0]);
+
+  if (nrhs > 6) {
+        accuracy_th=(double)mxGetScalar(prhs[6]);
+        max_iter=(int)mxGetScalar(prhs[7]);
+  }
+        
+  winSize = (int)mxGetScalar(prhs[5]);
+  fPnt=(double*)mxGetPr(prhs[4]);
+  nFeatures=mxGetDimensions(prhs[4]);
+
+  imdims=(int*)malloc(sizeof(int)*cellDims[0]*2);
+  //iP=(double**)malloc(sizeof(double*)*cellDims[0]);
+  //iDxP=(double**)malloc(sizeof(double*)*cellDims[0]);
+  //iDyP=(double**)malloc(sizeof(double*)*cellDims[0]);
+  //jP=(double**)malloc(sizeof(double*)*cellDims[0]);
+
+  for(int i=0; i<cellDims[0]; i++){
+        //imgArray=mxGetCell(prhs[0],i);
+        //curImgDims = mxGetDimensions(imgArray);
+        curImgDims = mxGetDimensions(mxGetCell(prhs[0],i));
+        imdims[i*2+0]= curImgDims[0];
+        imdims[i*2+1]= curImgDims[1];
+        //imdims[i][1] = curImgDims[1];
+
+        iP[i]= (double*)mxGetPr(mxGetCell(prhs[0],i));
+        iDxP[i]= (double*)mxGetPr(mxGetCell(prhs[1],i));
+        iDyP[i]= (double*)mxGetPr(mxGetCell(prhs[2],i));
+        jP[i]= (double*)mxGetPr(mxGetCell(prhs[3],i));
+  }
+
+  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;
+        valid[i]=1;
+  }
+  if(nrhs>6){
+        calcPyrLKTrack( iP, iDxP, iDyP, jP, imdims, cellDims[0], fPnt, nFeatures[1], winSize, 
+         newFPnt, valid, accuracy_th, max_iter); 
+  }else{        
+        calcPyrLKTrack( iP, iDxP, iDyP, jP, imdims, cellDims[0], fPnt, 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;
+        newFPnt[i]=newFPnt[i]+1;
+  }
+  free(imdims);
+  //free(iP);
+  //free(iDxP);
+  //free(iDyP);
+  //free(jP);
+}