#include"mex.h"
#include     "cv.h"
#include    "highgui.h"
using namespacecv;

voidmexFunction (int nlhs, mxArray *plhs[], // 输出参数个数，及输出参数组
                         int nrhs, const mxArray *prhs[]) // 输入参数个数，及输入参数数组
{
    char name[256];
    int buflens =mxGetNumberOfElements(prhs[0]);
    mxGetString(prhs[0], name, buflens+1);
     if(!mxIsChar(prhs[0]))
     {
        mexErrMsgTxt("First parameter must be string/n");
     }
    mexPrintf(name);
    IplImage * img = cvLoadImage(name, 1);
     if(img->imageData == NULL)
     {
        mexErrMsgTxt("Error in image/n");
     }
    cvNamedWindow("1",1);
    //imshow("1",mat);
    cvShowImage("1",img);
    cvWaitKey(0);
    return;

}

#pragma comment(lib, "opencv_calib3d243d.lib") 
#pragma comment(lib, "opencv_contrib243d.lib") 
#pragma comment(lib, "opencv_core243d.lib")
#pragma comment(lib, "opencv_features2d243d.lib") 
#pragma comment(lib, "opencv_flann243d.lib") 
#pragma comment(lib, "opencv_gpu243d.lib") #pragma comment(lib, "opencv_highgui243d.lib") #pragma comment(lib, "opencv_imgproc243d.lib") #pragma comment(lib, "opencv_legacy243d.lib") #pragma comment(lib, "opencv_ml243d.lib") #pragma comment(lib, "opencv_objdetect243d.lib") #pragma comment(lib, "opencv_ts243d.lib") #pragma comment(lib, "opencv_video243d.lib") 

#include "mex.h"  #include "cv.h"
//#include "highgui.h" #include "highgui.h"
#pragma comment(lib, "opencv_calib3d243d.lib") 
#pragma comment(lib, "opencv_contrib243d.lib") 
#pragma comment(lib, "opencv_core243d.lib")
#pragma comment(lib, "opencv_features2d243d.lib") 
#pragma comment(lib, "opencv_flann243d.lib") 
#pragma comment(lib, "opencv_gpu243d.lib") 
#pragma comment(lib, "opencv_highgui243d.lib") 
#pragma comment(lib, "opencv_imgproc243d.lib")
#pragma comment(lib, "opencv_legacy243d.lib") 
#pragma comment(lib, "opencv_ml243d.lib")
#pragma comment(lib, "opencv_objdetect243d.lib") 
#pragma comment(lib, "opencv_ts243d.lib")
#pragma comment(lib, "opencv_video243d.lib")
 
IplImage *grey1 = 0, *grey0 = 0, *pyramid1 = 0, *pyramid0 = 0;  
int win_size = 5;
CvPoint2D32f* points[2] = {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
    
for(int i=0;i<N;i++)        
for(int j=0;j<M;j++) 
            image‐>imageData[j*widthStep+i] = values[j+i*M]; 
}
   
void mexFunction(int plhs_size, mxArray *plhs[], int prhs_size, const mxArray *prhs[])
 {
    // Load images
 
    if (prhs_size ==4) 
　　{
        win_size = *mxGetPr(prhs[3]);     
　　}
    
　　int N = mxGetN(prhs[0]);     
　　int M = mxGetM(prhs[0]); 
　　grey0 = cvCreateImage( cvSize(N, M), 8, 1 );    
　　grey1 = cvCreateImage( cvSize(N, M), 8, 1 );     

　　loadImageFromMatlab(prhs[0],grey0);     
　　loadImageFromMatlab(prhs[1],grey1);  



　　// Load feature points
    double *fp = mxGetPr(prhs[2]);
    int num_pts = mxGetN(prhs[2]);
    points[0] = (CvPoint2D32f*)cvAlloc(num_pts*sizeof(points[0][0]));    
 　　points[1] = (CvPoint2D32f*)cvAlloc(num_pts*sizeof(points[0][0]));   

　　char *status = (char*)cvAlloc(num_pts);
　　float *error = (float*) cvAlloc(num_pts*sizeof(float));     

　　for (int i = 0; i < num_pts; i++) 
　　{
        points[0][i].x = fp[2*i];        

points[0][i].y = fp[2*i+1];     
　　}

    // neni treba, urychleni z fpt 40 ‐> fps 200
    //cvFindCornerSubPix( grey0, points[0], num_pts, cvSize(win_size,win_size), cvSize(‐1,‐1), cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03));  
    pyramid1 = cvCreateImage( cvGetSize(grey1), 8, 1 );    

pyramid0 = cvCreateImage( cvGetSize(grey1), 8, 1 );
    
    cvCalcOpticalFlowPyrLK( grey0, grey1, pyramid0, pyramid1, points[0], points[1], num_pts, cvSize(win_size,win_size), 6, status, error, cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03), 0 );  
    // Output
    
    plhs[0] = mxCreateDoubleMatrix(6, num_pts, mxREAL);     



double *output = mxGetPr(plhs[0]);    

for (int i = 0; i < num_pts; i++) 

{
        output[6*i]   = (double) points[0][i].x;        

output[6*i+1] = (double) points[0][i].y;         

output[6*i+2] = (double) points[1][i].x;         

output[6*i+3] = (double) points[1][i].y;         

output[6*i+4] = (double) error[i];         

output[6*i+5] = (double) status[i];  
        //output[5*i+5] = (double) error[i];    

}
 
    // Tidy up
    cvReleaseImage( &pyramid0 );     

cvReleaseImage( &pyramid1 );    

cvReleaseImage( &grey0 );     

cvReleaseImage( &grey1 );     



return; 





}