KLT_MATLAB

有两篇文章：Pyramidal Implementation of the Lucas Kanade Feature Tracker Description of the algorithm 以及它的翻译（当然不是我翻译的 如果有侵权的话联系我我就删啊 QAQ） 还有matlab计算光流 看文章有助于理解程序 ￣▽￣ y

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%DENSE LUCAS KANADE PYRAMIDAL + ITERATIVE REFINMENT 
%J.MARZAT - ENSEM / INRIA Rocquencourt （France） julien.marzat@gmail.com
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%Data acquisition
im1=single（（imread（‘yos_img_10.pgm‘）））;
im2=single（（imread（‘yos_img_11.pgm‘）））;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%parameters : levels number window size iterations number regularization
numLevels=3; %Lm:height of the pyramid.（234）
window=9;% integration window
iterations=1;
alpha = 0.001;

hw = floor（window/2）; %WxWy?
t0=clock;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%pyramids creation
pyramid1 = im1;
pyramid2 = im2;
%init
for i=2:numLevels
    im1 = impyramid（im1 ‘reduce‘）;
    im2 = impyramid（im2 ‘reduce‘）;
    pyramid1（1:size（im11） 1:size（im12） i） = im1;
    pyramid2（1:size（im21） 1:size（im22） i） = im2;
end;

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%Processing all levels
for p = 1:numLevels
   
    %current pyramid
    im1 = pyramid1（1:（size（pyramid11）/（2^（numLevels - p））） 1:（size（pyramid12）/（2^（numLevels - p））） （numLevels - p）+1）;
    im2 = pyramid2（1:（size（pyramid21）/（2^（numLevels - p））） 1:（size（pyramid22）/（2^（numLevels - p））） （numLevels - p）+1）;
       
    %init
    if p==1
    u=zeros（size（im1））;%Vx
    v=zeros（size（im1））;%Vy
    else  
    %resizing
    u = 2 * imresize（usize（u）*2‘bilinear‘）;   
    v = 2 * imresize（vsize（v）*2‘bilinear‘）;
    end
    
    %refinment loop
    for r = 1:iterations
   
    u=round（u）;
    v=round（v）;
    
    %every pixel loop
        for i = 1+hw:size（im11）-hw
            for j = 1+hw:size（im22）-hw
            patch1 = im1（i-hw:i+hw j-hw:j+hw）;
      
            %moved patch 
            lr = i-hw+v（ij）;
            hr = i+hw+v（ij）;
            lc = j-hw+u（ij）;
            hc = j+hw+u（ij）;
           
                  if （lr < 1）||（hr > size（im11））||（lc < 1）||（hc > size（im12））  
                  %Regularized least square processing
                  else
                  patch2 = im2（lr:hr lc:hc）;
      
                  fx = conv2（patch1 0.25* [-1 1; -1 1]） + conv2（patch2 0.25*[-1 1; -1 1]）;
                  fy = conv2（patch1 0.25* [-1 -1; 1 1]） + conv2（patch2 0.25*[-1 -1; 1 1]）;
                  ft = conv2（patch1 0.25*ones（2）） + conv2（patch2 -0.25*ones（2））;

      
                  Fx = fx（2:window-12:window-1）‘;
                  Fy = fy（2:window-12:window-1）‘;
                  Ft = ft（2:window-12:window-1）‘;

                  A = [Fx（:） Fy（:）];      
                  G=A‘*A;
              
                  G（11）=G（11）+alpha; G（22）=G（22）+alpha;
                  U=1/（G（11）*G（22）-G（12）*G（21））*[G（22） -G（12）;-G（21） G（11）]*A‘*-Ft（:）;
                  u（i

 属性            大小     日期    时间   名称
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     文件       1334  2010-03-08 04:31  LKPR-marzat\license.txt

     文件       3324  2013-10-15 09:41  LKPR-marzat\LKPR.m

     文件     270836  2012-12-11 18:17  LKPR-marzat\Pyramidal_Implementation_of_the_Lucas_Kanade_Feature_Tracker_Description_of_the_algorithm.pdf

     文件       1285  2008-04-30 15:34  LKPR-marzat\showmap3.m

     文件      79647  2003-04-18 21:18  LKPR-marzat\yos_img_10.pgm

     文件      79647  2003-04-18 21:18  LKPR-marzat\yos_img_11.pgm

     文件     350669  2012-12-11 21:13  LKPR-marzat\基于金字塔的LK特征点跟踪算法.pdf

     目录          0  2013-10-15 13:30  LKPR-marzat

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