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addpath ~/Matlab/Toolbox/lagrcv/
addpath ~/Matlab/Toolbox/toolbox_basic/filter
addpath ~/Matlab/Toolbox/ikkjin/
N_FEA=1600;
WINSZ=8; %size of sum-up window
NO_PYR=2;
SUPPRESION_RADIUS=10;
LK_ITER=20;
IMAGE_DIR='~/backup/Research/ant/Transport/'
filelist=dir(fullfile(IMAGE_DIR, '*.jpg'));
flen=length(filelist);
img_idx_cur=[1:flen];
%subplot(1,2,1);imshow(Iprev)
%/hold on
%//scatter(features(2,:),features(1,:),'r')
%%
imgName=fullfile(IMAGE_DIR,filelist(img_idx_cur(1)).name);
Icur=imread(imgName);
Icur=rgb2gray(Icur);
Icur=calcImgBlurMex(double(Icur));
%%
Jpyr=getPyramid(Icur, 2);
[lambda tr det c_xx c_xy c_yy] =calcTextureMex(double(Icur), WINSZ);
imgsz=size(lambda);
lambda([1:8 end-8:end],:)=0;
lambda(:,[1:8 end-8:end])=0;
[temp idx]=sort(lambda(:), 'descend');
%%
featureIdx=idx(1:N_FEA);
features=zeros(3, N_FEA);
features(1,:)=ceil(featureIdx/imgsz(1));
features(2,:)=featureIdx'-(features(1,:)-1)*imgsz(1);
features(3,:)=lambda(featureIdx);
imagesc(lambda); hold on
scatter(features(1,:), features(2,:), 'r+');hold off
%%
interestPnt=getANMS(features(1,:)', features(2,:)', features(3,:)', SUPPRESION_RADIUS);
interestPnt=interestPnt';
scatter(interestPnt(1,:), interestPnt(2,:), 'g+')
%%
features=interestPnt(1:2,:);
%%
for iter=img_idx_cur
Iprev=Icur;
Icur=imread(fullfile(IMAGE_DIR,filelist(img_idx_cur(iter)).name));
Icur=rgb2gray(Icur);
Icur=calcImgBlurMex(double(Icur));
Ipyr=Jpyr;
Jpyr=getPyramid(Icur, 2);
[dxPyr dyPyr]=calcSobelPyrMex(Ipyr,2);
[lambda tr det c_xx c_xy c_yy] = calcTexturePyrMex(dxPyr, dyPyr, WINSZ, NO_PYR);
[newpoints status]=calcOptFlowLKPyrMex(Ipyr, dxPyr, dyPyr, Jpyr, double(features), 4, 0.03, LK_ITER, c_xx, c_xy, c_yy);
newpoints=newpoints(:,find(status));
figure(1);
imagesc(Icur);colormap gray
hold on;scatter(newpoints(1,:), newpoints(2,:), 'r+'); hold off;
drawnow
%print('-djpeg', sprintf('result/result_%03d', iter))
%pause
features=newpoints;
end
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