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lk.cpp
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lk.cpp
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// Copyright 2011 Zdenek Kalal
//
// This file is part of TLD.
//
// TLD is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// TLD is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with TLD. If not, see <http://www.gnu.org/licenses/>.
#include "cv.h"
#include "highgui.h"
#include "math.h"
#include <limits>
#ifdef _CHAR16T
#define CHAR16_T
#endif
#include "mex.h"
const int MAX_COUNT = 500;
const int MAX_IMG = 2;
int win_size = 4;
CvPoint2D32f* points[3] = {0,0,0};
void loadImageFromMatlab(const mxArray *mxImage, IplImage *image) {
unsigned char *values = (unsigned char *) mxGetPr(mxImage);
int widthStep = image->widthStep;
int N = mxGetN(mxImage); // width
int M = mxGetM(mxImage); // height
if (N == 0 || M == 0) {
printf("Input image error\n");
return;
}
for(int i=0;i<N;i++)
for(int j=0;j<M;j++)
image->imageData[j*widthStep+i] = values[j+i*M];
}
void euclideanDistance (CvPoint2D32f *point1, CvPoint2D32f *point2, float *match, int nPts) {
for (int i = 0; i < nPts; i++) {
match[i] = sqrt((point1[i].x - point2[i].x)*(point1[i].x - point2[i].x) +
(point1[i].y - point2[i].y)*(point1[i].y - point2[i].y) );
}
}
void normCrossCorrelation(IplImage *imgI, IplImage *imgJ, CvPoint2D32f *points0, CvPoint2D32f *points1, int nPts, char *status, float *match,int winsize, int method) {
IplImage *rec0 = cvCreateImage( cvSize(winsize, winsize), 8, 1 );
IplImage *rec1 = cvCreateImage( cvSize(winsize, winsize), 8, 1 );
IplImage *res = cvCreateImage( cvSize( 1, 1 ), IPL_DEPTH_32F, 1 );
for (int i = 0; i < nPts; i++) {
if (status[i] == 1) {
cvGetRectSubPix( imgI, rec0, points0[i] );
cvGetRectSubPix( imgJ, rec1, points1[i] );
cvMatchTemplate( rec0,rec1, res, method );
match[i] = ((float *)(res->imageData))[0];
} else {
match[i] = 0.0;
}
}
cvReleaseImage( &rec0 );
cvReleaseImage( &rec1 );
cvReleaseImage( &res );
}
void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
double nan = std::numeric_limits<double>::quiet_NaN();
double inf = std::numeric_limits<double>::infinity();
if (nrhs == 0)
{
mexPrintf("Lucas-Kanade\n");
return;
}
IplImage **IMG = 0;
IplImage **PYR = 0;
IMG = (IplImage**) calloc(MAX_IMG,sizeof(IplImage*));
PYR = (IplImage**) calloc(MAX_IMG,sizeof(IplImage*));
if (IMG == 0 || (nrhs != 5 && nrhs != 6))
{
mexPrintf("lk(2,imgI,imgJ,ptsI,ptsJ,Level)\n");
// 0 1 2 3 4
return;
}
int Level;
if (nrhs == 6)
Level = (int) *mxGetPr(prhs[5]);
else
Level = 5;
int I = 0;
int J = 1;
int Winsize = 10;
// Images
CvSize imageSize = cvSize(mxGetN(prhs[1]),mxGetM(prhs[1]));
IMG[I] = cvCreateImage( imageSize, 8, 1 );
PYR[I] = cvCreateImage( imageSize, 8, 1 );
loadImageFromMatlab(prhs[1], IMG[I]);
imageSize = cvSize(mxGetN(prhs[2]),mxGetM(prhs[2]));
IMG[J] = cvCreateImage( imageSize, 8, 1 );
PYR[J] = cvCreateImage( imageSize, 8, 1 );
loadImageFromMatlab(prhs[2], IMG[J]);
// Points
double *ptsI = mxGetPr(prhs[3]); int nPts = mxGetN(prhs[3]);
double *ptsJ = mxGetPr(prhs[4]);
if (nPts != mxGetN(prhs[4]))
{
mexPrintf("Inconsistent input!\n");
return;
}
points[0] = (CvPoint2D32f*)cvAlloc(nPts*sizeof(CvPoint2D32f)); // template
points[1] = (CvPoint2D32f*)cvAlloc(nPts*sizeof(CvPoint2D32f)); // target
points[2] = (CvPoint2D32f*)cvAlloc(nPts*sizeof(CvPoint2D32f)); // forward-backward
for (int i = 0; i < nPts; i++)
{
points[0][i].x = ptsI[2*i]; points[0][i].y = ptsI[2*i+1];
points[1][i].x = ptsJ[2*i]; points[1][i].y = ptsJ[2*i+1];
points[2][i].x = ptsI[2*i]; points[2][i].y = ptsI[2*i+1];
}
float *ncc = (float*) cvAlloc(nPts*sizeof(float));
float *ssd = (float*) cvAlloc(nPts*sizeof(float));
float *fb = (float*) cvAlloc(nPts*sizeof(float));
char *status = (char*) cvAlloc(nPts);
cvCalcOpticalFlowPyrLK( IMG[I], IMG[J], PYR[I], PYR[J], points[0], points[1], nPts, cvSize(win_size,win_size), Level, status, 0, cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03), CV_LKFLOW_INITIAL_GUESSES);
cvCalcOpticalFlowPyrLK( IMG[J], IMG[I], PYR[J], PYR[I], points[1], points[2], nPts, cvSize(win_size,win_size), Level, status, 0, cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03), CV_LKFLOW_INITIAL_GUESSES | CV_LKFLOW_PYR_A_READY | CV_LKFLOW_PYR_B_READY );
normCrossCorrelation(IMG[I],IMG[J],points[0],points[1],nPts, status, ncc, Winsize,CV_TM_CCOEFF_NORMED);
//normCrossCorrelation(IMG[I],IMG[J],points[0],points[1],nPts, status, ssd, Winsize,CV_TM_SQDIFF);
euclideanDistance( points[0],points[2],fb,nPts);
// Output
int M = 4;
plhs[0] = mxCreateDoubleMatrix(M, nPts, mxREAL);
double *output = mxGetPr(plhs[0]);
for (int i = 0; i < nPts; i++)
{
if (status[i] == 1)
{
output[M*i] = (double) points[1][i].x;
output[M*i+1] = (double) points[1][i].y;
output[M*i+2] = (double) fb[i];
output[M*i+3] = (double) ncc[i];
}
else
{
output[M*i] = nan;
output[M*i+1] = nan;
output[M*i+2] = nan;
output[M*i+3] = nan;
}
}
// clean up
for (int i = 0; i < MAX_IMG; i++)
{
cvReleaseImage(&(IMG[i]));
cvReleaseImage(&(PYR[i]));
}
free(IMG);
free(PYR);
}