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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 ] =
// 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;
}
}
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