/*M/////////////////////////////////////////////////////////////////////////////////////// // // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. // // By downloading, copying, installing or using the software you agree to this license. // If you do not agree to this license, do not download, install, // copy or use the software. // // // License Agreement // For Open Source Computer Vision Library // // Copyright (C) 2000, Intel Corporation, all rights reserved. // Copyright (C) 2013, OpenCV Foundation, all rights reserved. // Third party copyrights are property of their respective owners. // // Redistribution and use in source and binary forms, with or without modification, // are permitted provided that the following conditions are met: // // * Redistribution's of source code must retain the above copyright notice, // this list of conditions and the following disclaimer. // // * Redistribution's in binary form must reproduce the above copyright notice, // this list of conditions and the following disclaimer in the documentation // and/or other materials provided with the distribution. // // * The name of the copyright holders may not be used to endorse or promote products // derived from this software without specific prior written permission. // // This software is provided by the copyright holders and contributors "as is" and // any express or implied warranties, including, but not limited to, the implied // warranties of merchantability and fitness for a particular purpose are disclaimed. // In no event shall the Intel Corporation or contributors be liable for any direct, // indirect, incidental, special, exemplary, or consequential damages // (including, but not limited to, procurement of substitute goods or services; // loss of use, data, or profits; or business interruption) however caused // and on any theory of liability, whether in contract, strict liability, // or tort (including negligence or otherwise) arising in any way out of // the use of this software, even if advised of the possibility of such damage. // //M*/ #include "precomp.hpp" // to be moved to legacy static int icvMinimalPyramidSize( CvSize imgSize ) { return cvAlign(imgSize.width,8) * imgSize.height / 3; } static void icvInitPyramidalAlgorithm( const CvMat* imgA, const CvMat* imgB, CvMat* pyrA, CvMat* pyrB, int level, CvTermCriteria * criteria, int max_iters, int flags, uchar *** imgI, uchar *** imgJ, int **step, CvSize** size, double **scale, cv::AutoBuffer* buffer ) { const int ALIGN = 8; int pyrBytes, bufferBytes = 0, elem_size; int level1 = level + 1; int i; CvSize imgSize, levelSize; *imgI = *imgJ = 0; *step = 0; *scale = 0; *size = 0; /* check input arguments */ if( ((flags & CV_LKFLOW_PYR_A_READY) != 0 && !pyrA) || ((flags & CV_LKFLOW_PYR_B_READY) != 0 && !pyrB) ) CV_Error( CV_StsNullPtr, "Some of the precomputed pyramids are missing" ); if( level < 0 ) CV_Error( CV_StsOutOfRange, "The number of pyramid levels is negative" ); switch( criteria->type ) { case CV_TERMCRIT_ITER: criteria->epsilon = 0.f; break; case CV_TERMCRIT_EPS: criteria->max_iter = max_iters; break; case CV_TERMCRIT_ITER | CV_TERMCRIT_EPS: break; default: assert( 0 ); CV_Error( CV_StsBadArg, "Invalid termination criteria" ); } /* compare squared values */ criteria->epsilon *= criteria->epsilon; /* set pointers and step for every level */ pyrBytes = 0; imgSize = cvGetSize(imgA); elem_size = CV_ELEM_SIZE(imgA->type); levelSize = imgSize; for( i = 1; i < level1; i++ ) { levelSize.width = (levelSize.width + 1) >> 1; levelSize.height = (levelSize.height + 1) >> 1; int tstep = cvAlign(levelSize.width,ALIGN) * elem_size; pyrBytes += tstep * levelSize.height; } assert( pyrBytes <= imgSize.width * imgSize.height * elem_size * 4 / 3 ); /* buffer_size = + */ bufferBytes = (int)((level1 >= 0) * ((pyrA->data.ptr == 0) + (pyrB->data.ptr == 0)) * pyrBytes + (sizeof(imgI[0][0]) * 2 + sizeof(step[0][0]) + sizeof(size[0][0]) + sizeof(scale[0][0])) * level1); buffer->allocate( bufferBytes ); *imgI = (uchar **) (uchar*)(*buffer); *imgJ = *imgI + level1; *step = (int *) (*imgJ + level1); *scale = (double *) (*step + level1); *size = (CvSize *)(*scale + level1); imgI[0][0] = imgA->data.ptr; imgJ[0][0] = imgB->data.ptr; step[0][0] = imgA->step; scale[0][0] = 1; size[0][0] = imgSize; if( level > 0 ) { uchar *bufPtr = (uchar *) (*size + level1); uchar *ptrA = pyrA->data.ptr; uchar *ptrB = pyrB->data.ptr; if( !ptrA ) { ptrA = bufPtr; bufPtr += pyrBytes; } if( !ptrB ) ptrB = bufPtr; levelSize = imgSize; /* build pyramids for both frames */ for( i = 1; i <= level; i++ ) { int levelBytes; CvMat prev_level, next_level; levelSize.width = (levelSize.width + 1) >> 1; levelSize.height = (levelSize.height + 1) >> 1; size[0][i] = levelSize; step[0][i] = cvAlign( levelSize.width, ALIGN ) * elem_size; scale[0][i] = scale[0][i - 1] * 0.5; levelBytes = step[0][i] * levelSize.height; imgI[0][i] = (uchar *) ptrA; ptrA += levelBytes; if( !(flags & CV_LKFLOW_PYR_A_READY) ) { prev_level = cvMat( size[0][i-1].height, size[0][i-1].width, CV_8UC1 ); next_level = cvMat( size[0][i].height, size[0][i].width, CV_8UC1 ); cvSetData( &prev_level, imgI[0][i-1], step[0][i-1] ); cvSetData( &next_level, imgI[0][i], step[0][i] ); cvPyrDown( &prev_level, &next_level ); } imgJ[0][i] = (uchar *) ptrB; ptrB += levelBytes; if( !(flags & CV_LKFLOW_PYR_B_READY) ) { prev_level = cvMat( size[0][i-1].height, size[0][i-1].width, CV_8UC1 ); next_level = cvMat( size[0][i].height, size[0][i].width, CV_8UC1 ); cvSetData( &prev_level, imgJ[0][i-1], step[0][i-1] ); cvSetData( &next_level, imgJ[0][i], step[0][i] ); cvPyrDown( &prev_level, &next_level ); } } } } /* compute dI/dx and dI/dy */ static void icvCalcIxIy_32f( const float* src, int src_step, float* dstX, float* dstY, int dst_step, CvSize src_size, const float* smooth_k, float* buffer0 ) { int src_width = src_size.width, dst_width = src_size.width-2; int x, height = src_size.height - 2; float* buffer1 = buffer0 + src_width; src_step /= sizeof(src[0]); dst_step /= sizeof(dstX[0]); for( ; height--; src += src_step, dstX += dst_step, dstY += dst_step ) { const float* src2 = src + src_step; const float* src3 = src + src_step*2; for( x = 0; x < src_width; x++ ) { float t0 = (src3[x] + src[x])*smooth_k[0] + src2[x]*smooth_k[1]; float t1 = src3[x] - src[x]; buffer0[x] = t0; buffer1[x] = t1; } for( x = 0; x < dst_width; x++ ) { float t0 = buffer0[x+2] - buffer0[x]; float t1 = (buffer1[x] + buffer1[x+2])*smooth_k[0] + buffer1[x+1]*smooth_k[1]; dstX[x] = t0; dstY[x] = t1; } } } #undef CV_8TO32F #define CV_8TO32F(a) (a) static const void* icvAdjustRect( const void* srcptr, int src_step, int pix_size, CvSize src_size, CvSize win_size, CvPoint ip, CvRect* pRect ) { CvRect rect; const char* src = (const char*)srcptr; if( ip.x >= 0 ) { src += ip.x*pix_size; rect.x = 0; } else { rect.x = -ip.x; if( rect.x > win_size.width ) rect.x = win_size.width; } if( ip.x + win_size.width < src_size.width ) rect.width = win_size.width; else { rect.width = src_size.width - ip.x - 1; if( rect.width < 0 ) { src += rect.width*pix_size; rect.width = 0; } assert( rect.width <= win_size.width ); } if( ip.y >= 0 ) { src += ip.y * src_step; rect.y = 0; } else rect.y = -ip.y; if( ip.y + win_size.height < src_size.height ) rect.height = win_size.height; else { rect.height = src_size.height - ip.y - 1; if( rect.height < 0 ) { src += rect.height*src_step; rect.height = 0; } } *pRect = rect; return src - rect.x*pix_size; } static CvStatus CV_STDCALL icvGetRectSubPix_8u32f_C1R ( const uchar* src, int src_step, CvSize src_size, float* dst, int dst_step, CvSize win_size, CvPoint2D32f center ) { CvPoint ip; float a12, a22, b1, b2; float a, b; double s = 0; int i, j; center.x -= (win_size.width-1)*0.5f; center.y -= (win_size.height-1)*0.5f; ip.x = cvFloor( center.x ); ip.y = cvFloor( center.y ); if( win_size.width <= 0 || win_size.height <= 0 ) return CV_BADRANGE_ERR; a = center.x - ip.x; b = center.y - ip.y; a = MAX(a,0.0001f); a12 = a*(1.f-b); a22 = a*b; b1 = 1.f - b; b2 = b; s = (1. - a)/a; src_step /= sizeof(src[0]); dst_step /= sizeof(dst[0]); if( 0 <= ip.x && ip.x + win_size.width < src_size.width && 0 <= ip.y && ip.y + win_size.height < src_size.height ) { // extracted rectangle is totally inside the image src += ip.y * src_step + ip.x; #if 0 if( icvCopySubpix_8u32f_C1R_p && icvCopySubpix_8u32f_C1R_p( src, src_step, dst, dst_step*sizeof(dst[0]), win_size, a, b ) >= 0 ) return CV_OK; #endif for( ; win_size.height--; src += src_step, dst += dst_step ) { float prev = (1 - a)*(b1*CV_8TO32F(src[0]) + b2*CV_8TO32F(src[src_step])); for( j = 0; j < win_size.width; j++ ) { float t = a12*CV_8TO32F(src[j+1]) + a22*CV_8TO32F(src[j+1+src_step]); dst[j] = prev + t; prev = (float)(t*s); } } } else { CvRect r; src = (const uchar*)icvAdjustRect( src, src_step*sizeof(*src), sizeof(*src), src_size, win_size,ip, &r); for( i = 0; i < win_size.height; i++, dst += dst_step ) { const uchar *src2 = src + src_step; if( i < r.y || i >= r.height ) src2 -= src_step; for( j = 0; j < r.x; j++ ) { float s0 = CV_8TO32F(src[r.x])*b1 + CV_8TO32F(src2[r.x])*b2; dst[j] = (float)(s0); } if( j < r.width ) { float prev = (1 - a)*(b1*CV_8TO32F(src[j]) + b2*CV_8TO32F(src2[j])); for( ; j < r.width; j++ ) { float t = a12*CV_8TO32F(src[j+1]) + a22*CV_8TO32F(src2[j+1]); dst[j] = prev + t; prev = (float)(t*s); } } for( ; j < win_size.width; j++ ) { float s0 = CV_8TO32F(src[r.width])*b1 + CV_8TO32F(src2[r.width])*b2; dst[j] = (float)(s0); } if( i < r.height ) src = src2; } } return CV_OK; } #define ICV_32F8U(x) ((uchar)cvRound(x)) #define ICV_DEF_GET_QUADRANGLE_SUB_PIX_FUNC( flavor, srctype, dsttype, worktype, cast_macro, cvt ) \ static CvStatus CV_STDCALL icvGetQuadrangleSubPix_##flavor##_C1R \ ( const srctype * src, int src_step, CvSize src_size, \ dsttype *dst, int dst_step, CvSize win_size, const float *matrix ) \ { \ int x, y; \ double dx = (win_size.width - 1)*0.5; \ double dy = (win_size.height - 1)*0.5; \ double A11 = matrix[0], A12 = matrix[1], A13 = matrix[2]-A11*dx-A12*dy; \ double A21 = matrix[3], A22 = matrix[4], A23 = matrix[5]-A21*dx-A22*dy; \ \ src_step /= sizeof(srctype); \ dst_step /= sizeof(dsttype); \ \ for( y = 0; y < win_size.height; y++, dst += dst_step ) \ { \ double xs = A12*y + A13; \ double ys = A22*y + A23; \ double xe = A11*(win_size.width-1) + A12*y + A13; \ double ye = A21*(win_size.width-1) + A22*y + A23; \ \ if( (unsigned)(cvFloor(xs)-1) < (unsigned)(src_size.width - 3) && \ (unsigned)(cvFloor(ys)-1) < (unsigned)(src_size.height - 3) && \ (unsigned)(cvFloor(xe)-1) < (unsigned)(src_size.width - 3) && \ (unsigned)(cvFloor(ye)-1) < (unsigned)(src_size.height - 3)) \ { \ for( x = 0; x < win_size.width; x++ ) \ { \ int ixs = cvFloor( xs ); \ int iys = cvFloor( ys ); \ const srctype *ptr = src + src_step*iys + ixs; \ double a = xs - ixs, b = ys - iys, a1 = 1.f - a; \ worktype p0 = cvt(ptr[0])*a1 + cvt(ptr[1])*a; \ worktype p1 = cvt(ptr[src_step])*a1 + cvt(ptr[src_step+1])*a; \ xs += A11; \ ys += A21; \ \ dst[x] = cast_macro(p0 + b * (p1 - p0)); \ } \ } \ else \ { \ for( x = 0; x < win_size.width; x++ ) \ { \ int ixs = cvFloor( xs ), iys = cvFloor( ys ); \ double a = xs - ixs, b = ys - iys, a1 = 1.f - a; \ const srctype *ptr0, *ptr1; \ worktype p0, p1; \ xs += A11; ys += A21; \ \ if( (unsigned)iys < (unsigned)(src_size.height-1) ) \ ptr0 = src + src_step*iys, ptr1 = ptr0 + src_step; \ else \ ptr0 = ptr1 = src + (iys < 0 ? 0 : src_size.height-1)*src_step; \ \ if( (unsigned)ixs < (unsigned)(src_size.width-1) ) \ { \ p0 = cvt(ptr0[ixs])*a1 + cvt(ptr0[ixs+1])*a; \ p1 = cvt(ptr1[ixs])*a1 + cvt(ptr1[ixs+1])*a; \ } \ else \ { \ ixs = ixs < 0 ? 0 : src_size.width - 1; \ p0 = cvt(ptr0[ixs]); p1 = cvt(ptr1[ixs]); \ } \ dst[x] = cast_macro(p0 + b * (p1 - p0)); \ } \ } \ } \ \ return CV_OK; \ } ICV_DEF_GET_QUADRANGLE_SUB_PIX_FUNC( 8u32f, uchar, float, double, cv::saturate_cast, CV_8TO32F ) /* Affine tracking algorithm */ CV_IMPL void cvCalcAffineFlowPyrLK( const void* arrA, const void* arrB, void* pyrarrA, void* pyrarrB, const CvPoint2D32f * featuresA, CvPoint2D32f * featuresB, float *matrices, int count, CvSize winSize, int level, char *status, float *error, CvTermCriteria criteria, int flags ) { const int MAX_ITERS = 100; cv::AutoBuffer _status; cv::AutoBuffer buffer; cv::AutoBuffer pyr_buffer; CvMat stubA, *imgA = (CvMat*)arrA; CvMat stubB, *imgB = (CvMat*)arrB; CvMat pstubA, *pyrA = (CvMat*)pyrarrA; CvMat pstubB, *pyrB = (CvMat*)pyrarrB; static const float smoothKernel[] = { 0.09375, 0.3125, 0.09375 }; /* 3/32, 10/32, 3/32 */ int bufferBytes = 0; uchar **imgI = 0; uchar **imgJ = 0; int *step = 0; double *scale = 0; CvSize* size = 0; float *patchI; float *patchJ; float *Ix; float *Iy; int i, j, k, l; CvSize patchSize = cvSize( winSize.width * 2 + 1, winSize.height * 2 + 1 ); int patchLen = patchSize.width * patchSize.height; int patchStep = patchSize.width * sizeof( patchI[0] ); CvSize srcPatchSize = cvSize( patchSize.width + 2, patchSize.height + 2 ); int srcPatchLen = srcPatchSize.width * srcPatchSize.height; int srcPatchStep = srcPatchSize.width * sizeof( patchI[0] ); CvSize imgSize; float eps = (float)MIN(winSize.width, winSize.height); imgA = cvGetMat( imgA, &stubA ); imgB = cvGetMat( imgB, &stubB ); if( CV_MAT_TYPE( imgA->type ) != CV_8UC1 ) CV_Error( CV_StsUnsupportedFormat, "" ); if( !CV_ARE_TYPES_EQ( imgA, imgB )) CV_Error( CV_StsUnmatchedFormats, "" ); if( !CV_ARE_SIZES_EQ( imgA, imgB )) CV_Error( CV_StsUnmatchedSizes, "" ); if( imgA->step != imgB->step ) CV_Error( CV_StsUnmatchedSizes, "imgA and imgB must have equal steps" ); if( !matrices ) CV_Error( CV_StsNullPtr, "" ); imgSize = cvGetMatSize( imgA ); if( pyrA ) { pyrA = cvGetMat( pyrA, &pstubA ); if( pyrA->step*pyrA->height < icvMinimalPyramidSize( imgSize ) ) CV_Error( CV_StsBadArg, "pyramid A has insufficient size" ); } else { pyrA = &pstubA; pyrA->data.ptr = 0; } if( pyrB ) { pyrB = cvGetMat( pyrB, &pstubB ); if( pyrB->step*pyrB->height < icvMinimalPyramidSize( imgSize ) ) CV_Error( CV_StsBadArg, "pyramid B has insufficient size" ); } else { pyrB = &pstubB; pyrB->data.ptr = 0; } if( count == 0 ) return; /* check input arguments */ if( !featuresA || !featuresB || !matrices ) CV_Error( CV_StsNullPtr, "" ); if( winSize.width <= 1 || winSize.height <= 1 ) CV_Error( CV_StsOutOfRange, "the search window is too small" ); if( count < 0 ) CV_Error( CV_StsOutOfRange, "" ); icvInitPyramidalAlgorithm( imgA, imgB, pyrA, pyrB, level, &criteria, MAX_ITERS, flags, &imgI, &imgJ, &step, &size, &scale, &pyr_buffer ); /* buffer_size = + */ bufferBytes = (srcPatchLen + patchLen*3)*sizeof(patchI[0]) + (36*2 + 6)*sizeof(double); buffer.allocate(bufferBytes); if( !status ) { _status.allocate(count); status = _status; } patchI = (float *)(uchar*)buffer; patchJ = patchI + srcPatchLen; Ix = patchJ + patchLen; Iy = Ix + patchLen; if( status ) memset( status, 1, count ); if( !(flags & CV_LKFLOW_INITIAL_GUESSES) ) { memcpy( featuresB, featuresA, count * sizeof( featuresA[0] )); for( i = 0; i < count * 4; i += 4 ) { matrices[i] = matrices[i + 3] = 1.f; matrices[i + 1] = matrices[i + 2] = 0.f; } } for( i = 0; i < count; i++ ) { featuresB[i].x = (float)(featuresB[i].x * scale[level] * 0.5); featuresB[i].y = (float)(featuresB[i].y * scale[level] * 0.5); } /* do processing from top pyramid level (smallest image) to the bottom (original image) */ for( l = level; l >= 0; l-- ) { CvSize levelSize = size[l]; int levelStep = step[l]; /* find flow for each given point at the particular level */ for( i = 0; i < count; i++ ) { CvPoint2D32f u; float Av[6]; double G[36]; double meanI = 0, meanJ = 0; int x, y; int pt_status = status[i]; CvMat mat; if( !pt_status ) continue; Av[0] = matrices[i*4]; Av[1] = matrices[i*4+1]; Av[3] = matrices[i*4+2]; Av[4] = matrices[i*4+3]; Av[2] = featuresB[i].x += featuresB[i].x; Av[5] = featuresB[i].y += featuresB[i].y; u.x = (float) (featuresA[i].x * scale[l]); u.y = (float) (featuresA[i].y * scale[l]); if( u.x < -eps || u.x >= levelSize.width+eps || u.y < -eps || u.y >= levelSize.height+eps || icvGetRectSubPix_8u32f_C1R( imgI[l], levelStep, levelSize, patchI, srcPatchStep, srcPatchSize, u ) < 0 ) { /* point is outside the image. take the next */ if( l == 0 ) status[i] = 0; continue; } icvCalcIxIy_32f( patchI, srcPatchStep, Ix, Iy, (srcPatchSize.width-2)*sizeof(patchI[0]), srcPatchSize, smoothKernel, patchJ ); /* repack patchI (remove borders) */ for( k = 0; k < patchSize.height; k++ ) memcpy( patchI + k * patchSize.width, patchI + (k + 1) * srcPatchSize.width + 1, patchStep ); memset( G, 0, sizeof( G )); /* calculate G matrix */ for( y = -winSize.height, k = 0; y <= winSize.height; y++ ) { for( x = -winSize.width; x <= winSize.width; x++, k++ ) { double ixix = ((double) Ix[k]) * Ix[k]; double ixiy = ((double) Ix[k]) * Iy[k]; double iyiy = ((double) Iy[k]) * Iy[k]; double xx, xy, yy; G[0] += ixix; G[1] += ixiy; G[2] += x * ixix; G[3] += y * ixix; G[4] += x * ixiy; G[5] += y * ixiy; // G[6] == G[1] G[7] += iyiy; // G[8] == G[4] // G[9] == G[5] G[10] += x * iyiy; G[11] += y * iyiy; xx = x * x; xy = x * y; yy = y * y; // G[12] == G[2] // G[13] == G[8] == G[4] G[14] += xx * ixix; G[15] += xy * ixix; G[16] += xx * ixiy; G[17] += xy * ixiy; // G[18] == G[3] // G[19] == G[9] // G[20] == G[15] G[21] += yy * ixix; // G[22] == G[17] G[23] += yy * ixiy; // G[24] == G[4] // G[25] == G[10] // G[26] == G[16] // G[27] == G[22] G[28] += xx * iyiy; G[29] += xy * iyiy; // G[30] == G[5] // G[31] == G[11] // G[32] == G[17] // G[33] == G[23] // G[34] == G[29] G[35] += yy * iyiy; meanI += patchI[k]; } } meanI /= patchSize.width*patchSize.height; G[8] = G[4]; G[9] = G[5]; G[22] = G[17]; // fill part of G below its diagonal for( y = 1; y < 6; y++ ) for( x = 0; x < y; x++ ) G[y * 6 + x] = G[x * 6 + y]; cvInitMatHeader( &mat, 6, 6, CV_64FC1, G ); if( cvInvert( &mat, &mat, CV_SVD ) < 1e-4 ) { /* bad matrix. take the next point */ if( l == 0 ) status[i] = 0; continue; } for( j = 0; j < criteria.max_iter; j++ ) { double b[6] = {0,0,0,0,0,0}, eta[6]; double t0, t1, s = 0; if( Av[2] < -eps || Av[2] >= levelSize.width+eps || Av[5] < -eps || Av[5] >= levelSize.height+eps || icvGetQuadrangleSubPix_8u32f_C1R( imgJ[l], levelStep, levelSize, patchJ, patchStep, patchSize, Av ) < 0 ) { pt_status = 0; break; } for( y = -winSize.height, k = 0, meanJ = 0; y <= winSize.height; y++ ) for( x = -winSize.width; x <= winSize.width; x++, k++ ) meanJ += patchJ[k]; meanJ = meanJ / (patchSize.width * patchSize.height) - meanI; for( y = -winSize.height, k = 0; y <= winSize.height; y++ ) { for( x = -winSize.width; x <= winSize.width; x++, k++ ) { double t = patchI[k] - patchJ[k] + meanJ; double ixt = Ix[k] * t; double iyt = Iy[k] * t; s += t; b[0] += ixt; b[1] += iyt; b[2] += x * ixt; b[3] += y * ixt; b[4] += x * iyt; b[5] += y * iyt; } } for( k = 0; k < 6; k++ ) eta[k] = G[k*6]*b[0] + G[k*6+1]*b[1] + G[k*6+2]*b[2] + G[k*6+3]*b[3] + G[k*6+4]*b[4] + G[k*6+5]*b[5]; Av[2] = (float)(Av[2] + Av[0] * eta[0] + Av[1] * eta[1]); Av[5] = (float)(Av[5] + Av[3] * eta[0] + Av[4] * eta[1]); t0 = Av[0] * (1 + eta[2]) + Av[1] * eta[4]; t1 = Av[0] * eta[3] + Av[1] * (1 + eta[5]); Av[0] = (float)t0; Av[1] = (float)t1; t0 = Av[3] * (1 + eta[2]) + Av[4] * eta[4]; t1 = Av[3] * eta[3] + Av[4] * (1 + eta[5]); Av[3] = (float)t0; Av[4] = (float)t1; if( eta[0] * eta[0] + eta[1] * eta[1] < criteria.epsilon ) break; } if( pt_status != 0 || l == 0 ) { status[i] = (char)pt_status; featuresB[i].x = Av[2]; featuresB[i].y = Av[5]; matrices[i*4] = Av[0]; matrices[i*4+1] = Av[1]; matrices[i*4+2] = Av[3]; matrices[i*4+3] = Av[4]; } if( pt_status && l == 0 && error ) { /* calc error */ double err = 0; for( y = 0, k = 0; y < patchSize.height; y++ ) { for( x = 0; x < patchSize.width; x++, k++ ) { double t = patchI[k] - patchJ[k] + meanJ; err += t * t; } } error[i] = (float)std::sqrt(err); } } } }