From f618466c25d43f3bae9e40920273bf77de1e1149 Mon Sep 17 00:00:00 2001
From: leochanj105 <leochanj@live.unc.edu>
Date: Mon, 19 Oct 2020 23:09:30 -0400
Subject: initial sd-vbs

initial sd-vbs

add sd-vbs

sd-vbs
---
 .../tracking/src/matlab/calcPyrLKTrack.m           | 108 +++++++++++++++++++++
 1 file changed, 108 insertions(+)
 create mode 100755 SD-VBS/benchmarks/tracking/src/matlab/calcPyrLKTrack.m

(limited to 'SD-VBS/benchmarks/tracking/src/matlab/calcPyrLKTrack.m')

diff --git a/SD-VBS/benchmarks/tracking/src/matlab/calcPyrLKTrack.m b/SD-VBS/benchmarks/tracking/src/matlab/calcPyrLKTrack.m
new file mode 100755
index 0000000..c965c2b
--- /dev/null
+++ b/SD-VBS/benchmarks/tracking/src/matlab/calcPyrLKTrack.m
@@ -0,0 +1,108 @@
+function [newFPnt, valid] = calcPyrLKTrack(iP, iDxP, iDyP, jP, fPnt, nFeatures, winSize, accuracy_th, max_iter)
+	
+cellDims = size(iP);
+GOOD_FEATURE_LAMBDA_TH = accuracy_th;
+
+for i=1:(cellDims(1))
+    curImgDims = size(iP{i});
+  	imgDims(i,1)= curImgDims(1);
+  	imgDims(i,2)= curImgDims(2);
+
+end
+
+pLevel = cellDims(1);
+
+rate=[1, 0.5, 0.25, 0.125, 0.0625, 0.03125];
+winSizeSq=4*winSize*winSize;
+iPatch=cell(1, winSizeSq);
+jPatch=cell(1, winSizeSq);
+iDxPatch=cell(1,winSizeSq);
+iDyPatch=cell(1,winSizeSq);
+
+valid(1:nFeatures) = 1;
+newFPnt = zeros(2,nFeatures);
+
+for i=1:nFeatures
+
+    dX=0;
+    dY=0;
+
+%% x is rows here and y is cols
+    
+    x=fPnt(1,i)*rate(pLevel+1);                 %half size of real level
+    y=fPnt(2,i)*rate(pLevel+1);
+
+    for level=pLevel:-1:1
+
+        x = x+x;
+        y = y+y;
+        dX = dX+dX;
+        dY = dY+dY;
+        imgSize(1)=imgDims(level,1); %y,x		
+        imgSize(2)=imgDims(level,2); %y,x		
+
+        c_xx = 0;
+        c_xy = 0;
+        c_yy = 0;
+            
+        %when feature goes out to the boundary.
+
+        if ((x-winSize)<1 || (y-winSize)<1 || (y+winSize+1)>imgSize(1) || (x+winSize+1)>imgSize(2))
+            %winSize+1due to interpolation
+            %error or skip the level??
+            valid(i) = 0;
+            break;
+        end
+
+        
+        iPatch = getInterpolatePatch(iP{level}, imgSize(1), imgSize(2), x, y, winSize);
+        iDxPatch = getInterpolatePatch(iDxP{level}, imgSize(1), imgSize(2), x, y, winSize);
+        iDyPatch = getInterpolatePatch(iDyP{level}, imgSize(1), imgSize(2), x, y, winSize);
+
+        for idx=1:winSizeSq
+            c_xx = c_xx + iDxPatch(idx) * iDxPatch(idx);
+            c_xy = c_xy + iDxPatch(idx) * iDyPatch(idx);
+            c_yy = c_yy + iDyPatch(idx) * iDyPatch(idx);
+        end
+
+        c_det = c_xx * c_yy - c_xy * c_xy;
+        
+        if (c_det/(c_xx+c_yy+0.00001)) < GOOD_FEATURE_LAMBDA_TH
+            valid(i)=0;
+            break;
+        end
+
+        c_det=1/c_det;
+
+        for k=1:max_iter
+            if ((x+dX-winSize)<1 || (y+dY-winSize)<1 || (y+dY+winSize+1)>imgSize(1) || (x+dX+winSize+1)>imgSize(2))
+                %winSize+1due to interpolation
+                %error or skip the level??
+                valid(i)=0;
+                break;
+            end
+
+            jPatch = getInterpolatePatch(jP{level}, imgSize(1), imgSize(2), x+dX, y+dY, winSize);
+            eX = 0;
+            eY = 0;
+            for idx=1:winSizeSq
+                dIt = iPatch(idx) - jPatch(idx);
+                eX = eX + (dIt*iDxPatch(idx));
+                eY = eY + (dIt*iDyPatch(idx));
+            end
+
+            mX = c_det*(eX*c_yy-eY*c_xy);
+            mY = c_det*(-eX*c_xy+eY*c_xx);
+            dX = dX + mX;
+            dY = dY + mY;
+
+
+            if ((mX*mX+mY*mY)<accuracy_th)
+                break;
+            end
+        end
+    end
+    
+    newFPnt(1, i) = fPnt(1,i)+dX;
+    newFPnt(2, i) = fPnt(2,i)+dY;
+end
-- 
cgit v1.2.2