VXLIB_trackFeaturesLK_i8u

Functions
VXLIB_STATUS	VXLIB_trackFeaturesLK_i8u (const uint8_t old_image[restrict], const VXLIB_bufParams2D_t *old_image_addr, const uint8_t new_image[restrict], const VXLIB_bufParams2D_t *new_image_addr, const int16_t old_gradX[restrict], const VXLIB_bufParams2D_t *old_gradX_addr, const int16_t old_gradY[restrict], const VXLIB_bufParams2D_t *old_gradY_addr, __float2_t old_points[restrict], __float2_t new_points[restrict], uint8_t tracking_status[restrict], uint32_t num_points, uint32_t max_iters, VXLIB_F32 epsilon, VXLIB_F32 scale, uint8_t window_size, uint8_t level, uint8_t termination, uint8_t scratch[restrict], uint32_t scratch_size)
VXLIB_STATUS	VXLIB_trackFeaturesLK_i8u_checkParams (const uint8_t old_image[restrict], const VXLIB_bufParams2D_t *old_image_addr, const uint8_t new_image[restrict], const VXLIB_bufParams2D_t *new_image_addr, const int16_t old_gradX[restrict], const VXLIB_bufParams2D_t *old_gradX_addr, const int16_t old_gradY[restrict], const VXLIB_bufParams2D_t *old_gradY_addr, const __float2_t old_points[restrict], const __float2_t new_points[restrict], const uint8_t tracking_status[restrict], uint32_t num_points, uint32_t max_iters, VXLIB_F32 epsilon, VXLIB_F32 scale, uint8_t window_size, uint8_t level, uint8_t termination, const uint8_t scratch[restrict], uint32_t scratch_size)

Detailed Description

Function Documentation

VXLIB_trackFeaturesLK_i8u()

VXLIB_STATUS VXLIB_trackFeaturesLK_i8u	(	const uint8_t	old_image[restrict],
		const VXLIB_bufParams2D_t *	old_image_addr,
		const uint8_t	new_image[restrict],
		const VXLIB_bufParams2D_t *	new_image_addr,
		const int16_t	old_gradX[restrict],
		const VXLIB_bufParams2D_t *	old_gradX_addr,
		const int16_t	old_gradY[restrict],
		const VXLIB_bufParams2D_t *	old_gradY_addr,
		__float2_t	old_points[restrict],
		__float2_t	new_points[restrict],
		uint8_t	tracking_status[restrict],
		uint32_t	num_points,
		uint32_t	max_iters,
		VXLIB_F32	epsilon,
		VXLIB_F32	scale,
		uint8_t	window_size,
		uint8_t	level,
		uint8_t	termination,
		uint8_t	scratch[restrict],
		uint32_t	scratch_size
	)

Description:

Performs the Lucas Kanade tracking method of features between two images.

Method:

Parameters

[in]	old_image[]	Pointer to array containing old input image (UQ8.0)
[in]	*old_image_addr	Pointer to structure containing dimensional information of old_image
[in]	new_image[]	Pointer to array containing new input image (UQ8.0)
[in]	*new_image_addr	Pointer to structure containing dimensional information of new_image
[in]	old_gradX[]	Pointer to array containing old X gradient image (SQ15.0)
[in]	*old_gradX_addr	Pointer to structure containing dimensional information of old_gradX
[in]	old_gradY[]	Pointer to array containing old Y gradient image (SQ15.0)
[in]	*old_gradY_addr	Pointer to structure containing dimensional information of old_gradY
[in,out]	old_points[]	Pointer to array containing keypoint list from old_image (F32.0)
[in,out]	new_points[]	Pointer to array containing keypoint list for new_image (F32.0)
[in,out]	tracking_status[]	Status of each point in the list (0: not tracked; 1: tracked)
[in]	num_points	Number of entries in each : old_points, new_points, and tracking_status arrays.
[in]	max_iters	Maximum number of iterations allowed before terminating the algorithm for each point.
[in]	epsilon	Maximum error allowed before terminating the algorithm for each point.
[in]	scale	Scale factor to apply to both the old_points and new_points list before tracking.
[in]	window_size	Window size
[in]	level	Flag to indicate if tracking_status[] should be updated or not (0: update; non-zero: no update)
[in]	termination	Termination criteria: VXLIB_TERM_ITERATIONS, VXLIB_TERM_EPSILON, or VXLIB_TERM_BOTH
[in]	scratch[]	Scratch buffer. Should allocate window_size*window_size*6 + 2 bytes.
[in]	scratch_size	Size of the scratch buffer (for parameter checking)

Assumptions:

• I/O buffer pointers are assumed to be not aliased.
• The old_image and new_image should be the same size (although they may have different strides)
• The old_gradX and old_gradY images should have the same size and strides.
• Each 64-bit word in old_points[] and new_points[] arrays are composed of 2 32-bit float words representing x and y coordinates, such that old_points[i] = (y(i) << 32) | x(i);
• The tracking_status[] array corresponds to the old_points and new_points lists
• The scratch buffer should be at least window_size*window_size*6 + 2 bytes

VXLIB_trackFeaturesLK_i8u_checkParams()

VXLIB_STATUS VXLIB_trackFeaturesLK_i8u_checkParams	(	const uint8_t	old_image[restrict],
		const VXLIB_bufParams2D_t *	old_image_addr,
		const uint8_t	new_image[restrict],
		const VXLIB_bufParams2D_t *	new_image_addr,
		const int16_t	old_gradX[restrict],
		const VXLIB_bufParams2D_t *	old_gradX_addr,
		const int16_t	old_gradY[restrict],
		const VXLIB_bufParams2D_t *	old_gradY_addr,
		const __float2_t	old_points[restrict],
		const __float2_t	new_points[restrict],
		const uint8_t	tracking_status[restrict],
		uint32_t	num_points,
		uint32_t	max_iters,
		VXLIB_F32	epsilon,
		VXLIB_F32	scale,
		uint8_t	window_size,
		uint8_t	level,
		uint8_t	termination,
		const uint8_t	scratch[restrict],
		uint32_t	scratch_size
	)

Description:

Checks the parameters for programming errors for the VXLIB_trackFeaturesLK_i8u function.

Method:

The following checks are made:

• There shall be no NULL pointers
• The old_image and new_image shall have the same dimentions
• The old_gradX and old_gradY images shall have the same dimentions and strides
• The termination value shall be in the valid range
• The scratch memory shall be at least window_size*window_size*6 + 2 bytes

Parameters

[in]	old_image[]	Pointer to array containing old input image (UQ8.0)
[in]	*old_image_addr	Pointer to structure containing dimensional information of old_image
[in]	new_image[]	Pointer to array containing new input image (UQ8.0)
[in]	*new_image_addr	Pointer to structure containing dimensional information of new_image
[in]	old_gradX[]	Pointer to array containing old X gradient image (SQ15.0)
[in]	*old_gradX_addr	Pointer to structure containing dimensional information of old_gradX
[in]	old_gradY[]	Pointer to array containing old Y gradient image (SQ15.0)
[in]	*old_gradY_addr	Pointer to structure containing dimensional information of old_gradY
[in,out]	old_points[]	Pointer to array containing keypoint list from old_image (F32.0)
[in,out]	new_points[]	Pointer to array containing keypoint list for new_image (F32.0)
[in,out]	tracking_status[]	Status of each point in the list (0: not tracked; 1: tracked)
[in]	num_points	Number of entries in each : old_points, new_points, and tracking_status arrays.
[in]	max_iters	Maximum number of iterations allowed before terminating the algorithm for each point.
[in]	epsilon	Maximum error allowed before terminating the algorithm for each point.
[in]	scale	Scale factor to apply to both the old_points and new_points list before tracking.
[in]	window_size	Window size
[in]	level	Flag to indicate if tracking_status[] should be updated or not (0: update; non-zero: no update)
[in]	termination	Termination criteria: VXLIB_TERM_ITERATIONS, VXLIB_TERM_EPSILON, or VXLIB_TERM_BOTH
[in]	scratch[]	Scratch buffer. Should allocate window_size*window_size*6 + 2 bytes.
[in]	scratch_size	Size of the scratch buffer (for parameter checking)