model matlabowy piramidy

mdanilow · Apr 11, 2019 · 14ae6a8 · 14ae6a8
1 parent d3745aa
commit 14ae6a8
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diff --git a/matlab/DDC/deprekejted/klt_pyramid.m b/matlab/DDC/deprekejted/klt_pyramid.m
@@ -0,0 +1,139 @@
+clear all;
+close all;
+
+interpolation_on = 0;
+
+Lm = 2;
+
+xsc = 300;
+ysc = 300;
+winLength = 20;
+winHeight = 20;
+x0 = xsc - winLength/2;
+y0 = ysc - winHeight/2;
+x1 = x0 + winLength;
+y1 = y0 + winHeight;
+
+g = double(zeros(2, 1));
+
+%iterate over frames
+for f = 1:400
+
+    f
+
+    frame = imread(['../pudelko/res_640_480/frame_', num2str(floor(f/100)), num2str(floor(mod(f, 100)/10)), num2str(mod(f,10)), '.ppm']);
+    gray_frame = frame(:, :, 1);
+
+%     gray_frame_L1 = scaledown(gray_frame);
+%     gray_frame_L2 = scaledown(gray_frame_L1);
+%     gray_frame_L3 = scaledown(gray_frame_L2);
+    gray_frame_L1 = imresize(gray_frame, 0.5, 'bilinear');
+    gray_frame_L2 = imresize(gray_frame_L1, 0.5, 'bilinear');
+    gray_frame_L3 = imresize(gray_frame_L2, 0.5, 'bilinear');
+
+    pyramidal_guess_x = 0;
+    pyramidal_guess_y = 0;
+
+    if f == 1
+
+        imshow(frame);
+
+    elseif f > 1
+
+        %piramid loop start
+        for L = Lm:-1:0
+
+            L;
+
+            level_x0 = x0/(2^L);
+            level_y0 = y0/(2^L);
+
+            switch L
+
+                case 3
+                    level_frame = gray_frame_L3;
+                    level_prev_frame = prev_gray_frame_L3;
+                case 2
+                    level_frame = gray_frame_L2;
+                    level_prev_frame = prev_gray_frame_L2;
+                case 1
+                    level_frame = gray_frame_L1;
+                    level_prev_frame = prev_gray_frame_L1;
+                case 0
+                    level_frame = gray_frame;
+                    level_prev_frame = prev_gray_frame;
+            end
+
+            %generate G matrix and b vector
+            G = [0, 0;
+                 0, 0];
+            b = [0;
+                 0];
+
+            for row = level_y0 : 1 : level_y0 + winHeight
+                for col = level_x0 : 1 : level_x0 + winLength
+
+                    if(interpolation_on == 1)
+                        Ix = (interpolation(col+1, row, level_prev_frame) - interpolation(col-1, row, level_prev_frame))/2;
+                        Iy = (interpolation(col, row+1, level_prev_frame) - interpolation(col, row-1, level_prev_frame))/2;
+                        dI = interpolation(col, row, level_prev_frame) - interpolation(col + pyramidal_guess_x, row + pyramidal_guess_y, level_frame);
+                    else
+                        row_ = floor(row);
+                        col_ = floor(col);
+                        Ix = (double(level_prev_frame(row_, col_+1)) - double(level_prev_frame(row_, col_-1)))/2;
+                        Iy = (double(level_prev_frame(row_+1, col_)) - double(level_prev_frame(row_-1, col_)))/2;  
+                        dI = double(level_prev_frame(row_, col_)) - double(level_frame(row_ + floor(pyramidal_guess_y), col_ + floor(pyramidal_guess_x)));
+                    end
+
+                    dG = [Ix^2, Ix*Iy;
+                          Ix*Iy, Iy^2];
+                    db = [dI*Ix;
+                          dI*Iy];
+
+                    G = G + dG;
+                    b = b + db;
+                end
+            end
+
+            d = linsolve(G, b);
+
+            %guess for higher level of pyramid
+            if(L ~= 0)
+                pyramidal_guess_x = 2*(pyramidal_guess_x + d(1));
+                pyramidal_guess_y = 2*(pyramidal_guess_y + d(2));
+            end
+        end
+
+        %solution for this frame
+        x0 = x0 + d(1) + pyramidal_guess_x;
+        y0 = y0 + d(2) + pyramidal_guess_y;
+
+        if(f == 2 || f == 61 || f == 100 || f == 123 || f == 179 || f == 317)
+
+%             imshow(frame);
+%             hold on;
+%             rectangle('Position', [round(x0), round(y0), winLength, winHeight], 'LineWidth', 3, 'EdgeColor', 'r');
+%             hold off;
+%             frame = insertShape(frame, 'Rectangle', [round(xsc), round(ysc), l, h], 'LineWidth', 4, 'Color', 'r');
+%             imwrite(frame, ['klt_pyramid_', num2str(floor(f/100)), num2str(floor(mod(f, 100)/10)), num2str(mod(f,10)), '.png']);
+%             ginput(1);
+%               imshow(frame);
+%               hold on;
+%               rectangle('Position', [x0, y0, winLength, winHeight], 'LineWidth', 2, 'EdgeColor', 'r');
+%               hold off;
+%               ginput(1);
+        end
+
+        imshow(frame);
+        hold on;
+        rectangle('Position', [floor(x0), floor(y0), winLength, winHeight], 'LineWidth', 2, 'EdgeColor', 'r');
+        hold off;
+        ginput(1);
+    end
+
+    prev_gray_frame = gray_frame;
+    prev_gray_frame_L1 = gray_frame_L1;
+    prev_gray_frame_L2 = gray_frame_L2;
+    prev_gray_frame_L3 = gray_frame_L3;
+end
+
diff --git a/matlab/DDC/klt_pyramid.m b/matlab/DDC/klt_pyramid.m
@@ -5,14 +5,6 @@
 
 Lm = 2;
 
-xsc = 300;
-ysc = 300;
-winLength = 20;
-winHeight = 20;
-x0 = xsc - winLength/2;
-y0 = ysc - winHeight/2;
-x1 = x0 + winLength;
-y1 = y0 + winHeight;
 
 g = double(zeros(2, 1));
 
@@ -21,12 +13,10 @@
 
     f
 
-    frame = imread(['../pudelko/res_640_480/frame_', num2str(floor(f/100)), num2str(floor(mod(f, 100)/10)), num2str(mod(f,10)), '.ppm']);
-    gray_frame = frame(:, :, 1);
+    frame = imread(['res_640_480/frame_', num2str(floor(f/100)), num2str(floor(mod(f, 100)/10)), num2str(mod(f,10)), '.ppm']);
+%     frame = readFrame(v);
+    gray_frame = rgb2gray(frame);
 
-%     gray_frame_L1 = scaledown(gray_frame);
-%     gray_frame_L2 = scaledown(gray_frame_L1);
-%     gray_frame_L3 = scaledown(gray_frame_L2);
     gray_frame_L1 = imresize(gray_frame, 0.5, 'bilinear');
     gray_frame_L2 = imresize(gray_frame_L1, 0.5, 'bilinear');
     gray_frame_L3 = imresize(gray_frame_L2, 0.5, 'bilinear');
@@ -35,8 +25,22 @@
     pyramidal_guess_y = 0;
 
     if f == 1
-
-        imshow(frame);
+
+%         imshow(frame);
+%         [x, y] = ginput(2);
+%         y0 = y(1);
+%         x0 = x(1);
+%         winLength = x(2) - x(1);
+%         winHeight = y(2) - y(1);
+        xsc = 300;
+        ysc = 300;
+        winLength = 20;
+        winHeight = 20;
+        x0 = xsc - winLength/2;
+        y0 = ysc - winHeight/2;
+        x1 = x0 + winLength;
+        y1 = y0 + winHeight;
+        rectangle('Position', [x0, y0, winLength, winHeight], 'LineWidth', 2, 'EdgeColor', 'r');
 
     elseif f > 1
 
@@ -78,11 +82,11 @@
                         Iy = (interpolation(col, row+1, level_prev_frame) - interpolation(col, row-1, level_prev_frame))/2;
                         dI = interpolation(col, row, level_prev_frame) - interpolation(col + pyramidal_guess_x, row + pyramidal_guess_y, level_frame);
                     else
-                        row_ = floor(row);
-                        col_ = floor(col);
+                        row_ = round(row);
+                        col_ = round(col);
                         Ix = (double(level_prev_frame(row_, col_+1)) - double(level_prev_frame(row_, col_-1)))/2;
                         Iy = (double(level_prev_frame(row_+1, col_)) - double(level_prev_frame(row_-1, col_)))/2;  
-                        dI = double(level_prev_frame(row_, col_)) - double(level_frame(row_ + floor(pyramidal_guess_y), col_ + floor(pyramidal_guess_x)));
+                        dI = double(level_prev_frame(row_, col_)) - double(level_frame(row_ + round(pyramidal_guess_y), col_ + round(pyramidal_guess_x)));
                     end
 
                     dG = [Ix^2, Ix*Iy;
@@ -107,26 +111,21 @@
         %solution for this frame
         x0 = x0 + d(1) + pyramidal_guess_x;
         y0 = y0 + d(2) + pyramidal_guess_y;
-
-        if(f == 2 || f == 61 || f == 100 || f == 123 || f == 179 || f == 317)
-
+        
+%         if(f == 2 || f == 61 || f == 100 || f == 123 || f == 179 || f == 317)
+%             
 %             imshow(frame);
 %             hold on;
-%             rectangle('Position', [round(x0), round(y0), winLength, winHeight], 'LineWidth', 3, 'EdgeColor', 'r');
+%             rectangle('Position', [round(xsc), round(ysc), winLength, winHeight], 'LineWidth', 3, 'EdgeColor', 'r');
 %             hold off;
 %             frame = insertShape(frame, 'Rectangle', [round(xsc), round(ysc), l, h], 'LineWidth', 4, 'Color', 'r');
 %             imwrite(frame, ['klt_pyramid_', num2str(floor(f/100)), num2str(floor(mod(f, 100)/10)), num2str(mod(f,10)), '.png']);
 %             ginput(1);
-%               imshow(frame);
-%               hold on;
-%               rectangle('Position', [x0, y0, winLength, winHeight], 'LineWidth', 2, 'EdgeColor', 'r');
-%               hold off;
-%               ginput(1);
-        end
+%         end
 
         imshow(frame);
         hold on;
-        rectangle('Position', [floor(x0), floor(y0), winLength, winHeight], 'LineWidth', 2, 'EdgeColor', 'r');
+        rectangle('Position', [round(x0), round(y0), winLength, winHeight], 'LineWidth', 2, 'EdgeColor', 'r');
         hold off;
         ginput(1);
     end