SD-VBS/common/toolbox/lagrcv/calcOptFlowLKPyrMex2.cc



d17b331


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/* 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];