documentation/optical__flow__pyramid__lk_8cl.xhtml

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 116 <a href="#nested-classes">Data Structures</a> &#124;
 117 <a href="#define-members">Macros</a> &#124;
 118 <a href="#typedef-members">Typedefs</a> &#124;
 119 <a href="#func-members">Functions</a>  </div>
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 121 <div class="title">optical_flow_pyramid_lk.cl File Reference</div>  </div>
 122 </div><!--header-->
 123 <div class="contents">
 124 <div class="textblock"><code>#include &quot;<a class="el" href="helpers_8h_source.xhtml">helpers.h</a>&quot;</code><br />
 125 <code>#include &quot;<a class="el" href="types_8h_source.xhtml">types.h</a>&quot;</code><br />
 126 </div>
 127 <p><a href="optical__flow__pyramid__lk_8cl_source.xhtml">Go to the source code of this file.</a></p>
 128 <table class="memberdecls">
 129 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
 130 Data Structures</h2></td></tr>
 131 <tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_internal_keypoint.xhtml">InternalKeypoint</a></td></tr>
 132 <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
 133 </table><table class="memberdecls">
 134 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="define-members"></a>
 135 Macros</h2></td></tr>
 136 <tr class="memitem:a0f3927d942874a04e6464bdb946de046"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="optical__flow__pyramid__lk_8cl.xhtml#a0f3927d942874a04e6464bdb946de046">DETERMINANT_THR</a>&#160;&#160;&#160;1.0e-07f</td></tr>
 137 <tr class="memdesc:a0f3927d942874a04e6464bdb946de046"><td class="mdescLeft">&#160;</td><td class="mdescRight">Threshold for the determinant.  <a href="#a0f3927d942874a04e6464bdb946de046">More...</a><br /></td></tr>
 138 <tr class="separator:a0f3927d942874a04e6464bdb946de046"><td class="memSeparator" colspan="2">&#160;</td></tr>
 139 <tr class="memitem:a3955a0fbedb5b3eae9a38801fb01bac5"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="optical__flow__pyramid__lk_8cl.xhtml#a3955a0fbedb5b3eae9a38801fb01bac5">EIGENVALUE_THR</a>&#160;&#160;&#160;1.0e-04f</td></tr>
 140 <tr class="memdesc:a3955a0fbedb5b3eae9a38801fb01bac5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Thresholds for minimum eigenvalue.  <a href="#a3955a0fbedb5b3eae9a38801fb01bac5">More...</a><br /></td></tr>
 141 <tr class="separator:a3955a0fbedb5b3eae9a38801fb01bac5"><td class="memSeparator" colspan="2">&#160;</td></tr>
 142 <tr class="memitem:aab6bf9cc4b300f72d07a2ebe9939f376"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="optical__flow__pyramid__lk_8cl.xhtml#aab6bf9cc4b300f72d07a2ebe9939f376">W_BITS</a>&#160;&#160;&#160;(14)</td></tr>
 143 <tr class="memdesc:aab6bf9cc4b300f72d07a2ebe9939f376"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constants used for Lucas-Kanade Algorithm.  <a href="#aab6bf9cc4b300f72d07a2ebe9939f376">More...</a><br /></td></tr>
 144 <tr class="separator:aab6bf9cc4b300f72d07a2ebe9939f376"><td class="memSeparator" colspan="2">&#160;</td></tr>
 145 <tr class="memitem:a1852457538f524c42f96b66882bd9b35"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="optical__flow__pyramid__lk_8cl.xhtml#a1852457538f524c42f96b66882bd9b35">FLT_SCALE</a>&#160;&#160;&#160;(1.0f / (float)(1 &lt;&lt; 20))</td></tr>
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 147 <tr class="memitem:ae0b2360d4b8e961bf2709b0663fd9f2a"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="optical__flow__pyramid__lk_8cl.xhtml#ae0b2360d4b8e961bf2709b0663fd9f2a">D0</a>&#160;&#160;&#160;((float)(1 &lt;&lt; <a class="el" href="optical__flow__pyramid__lk_8cl.xhtml#aab6bf9cc4b300f72d07a2ebe9939f376">W_BITS</a>))</td></tr>
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 149 <tr class="memitem:a52deba56234661c77d4b9573d5175ae2"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="optical__flow__pyramid__lk_8cl.xhtml#a52deba56234661c77d4b9573d5175ae2">D1</a>&#160;&#160;&#160;(1.0f / (float)(1 &lt;&lt; (W_BITS - 5)))</td></tr>
 150 <tr class="separator:a52deba56234661c77d4b9573d5175ae2"><td class="memSeparator" colspan="2">&#160;</td></tr>
 151 </table><table class="memberdecls">
 152 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="typedef-members"></a>
 153 Typedefs</h2></td></tr>
 154 <tr class="memitem:ad3a2575d8a9005ddf8ce79dda76918f8"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="struct_internal_keypoint.xhtml">InternalKeypoint</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="optical__flow__pyramid__lk_8cl.xhtml#ad3a2575d8a9005ddf8ce79dda76918f8">InternalKeypoint</a></td></tr>
 155 <tr class="separator:ad3a2575d8a9005ddf8ce79dda76918f8"><td class="memSeparator" colspan="2">&#160;</td></tr>
 156 </table><table class="memberdecls">
 157 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
 158 Functions</h2></td></tr>
 159 <tr class="memitem:a73bd536f33d9707d1165a0fce16db833"><td class="memItemLeft" align="right" valign="top">__kernel void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="optical__flow__pyramid__lk_8cl.xhtml#a73bd536f33d9707d1165a0fce16db833">init_level</a> (__global float4 *old_points_internal, __global float4 *new_points_internal, const float scale)</td></tr>
 160 <tr class="memdesc:a73bd536f33d9707d1165a0fce16db833"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializes the internal new points array when the level of pyramid is NOT equal to max.  <a href="#a73bd536f33d9707d1165a0fce16db833">More...</a><br /></td></tr>
 161 <tr class="separator:a73bd536f33d9707d1165a0fce16db833"><td class="memSeparator" colspan="2">&#160;</td></tr>
 162 <tr class="memitem:a324194275a47768c0460d19b16b477db"><td class="memItemLeft" align="right" valign="top">__kernel void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="optical__flow__pyramid__lk_8cl.xhtml#a324194275a47768c0460d19b16b477db">init_level_max</a> (__global <a class="el" href="struct_keypoint.xhtml">Keypoint</a> *old_points, __global <a class="el" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> *old_points_internal, __global <a class="el" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> *new_points_internal, const float scale)</td></tr>
 163 <tr class="memdesc:a324194275a47768c0460d19b16b477db"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializes the internal new points array when the level of pyramid is equal to max.  <a href="#a324194275a47768c0460d19b16b477db">More...</a><br /></td></tr>
 164 <tr class="separator:a324194275a47768c0460d19b16b477db"><td class="memSeparator" colspan="2">&#160;</td></tr>
 165 <tr class="memitem:a4b777fd3d432419912e4dbc94fe9d3f5"><td class="memItemLeft" align="right" valign="top">__kernel void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="optical__flow__pyramid__lk_8cl.xhtml#a4b777fd3d432419912e4dbc94fe9d3f5">init_level_max_initial_estimate</a> (__global <a class="el" href="struct_keypoint.xhtml">Keypoint</a> *old_points, __global <a class="el" href="struct_keypoint.xhtml">Keypoint</a> *new_points_estimates, __global <a class="el" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> *old_points_internal, __global <a class="el" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> *new_points_internal, const float scale)</td></tr>
 166 <tr class="memdesc:a4b777fd3d432419912e4dbc94fe9d3f5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializes the new_points array when the level of pyramid is equal to max and if use_initial_estimate = 1.  <a href="#a4b777fd3d432419912e4dbc94fe9d3f5">More...</a><br /></td></tr>
 167 <tr class="separator:a4b777fd3d432419912e4dbc94fe9d3f5"><td class="memSeparator" colspan="2">&#160;</td></tr>
 168 <tr class="memitem:a0beafe52e6ef0247d036f06bd6da622a"><td class="memItemLeft" align="right" valign="top">__kernel void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="optical__flow__pyramid__lk_8cl.xhtml#a0beafe52e6ef0247d036f06bd6da622a">finalize</a> (__global <a class="el" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> *new_points_internal, __global <a class="el" href="struct_keypoint.xhtml">Keypoint</a> *new_points)</td></tr>
 169 <tr class="memdesc:a0beafe52e6ef0247d036f06bd6da622a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Truncates the coordinates stored in new_points array.  <a href="#a0beafe52e6ef0247d036f06bd6da622a">More...</a><br /></td></tr>
 170 <tr class="separator:a0beafe52e6ef0247d036f06bd6da622a"><td class="memSeparator" colspan="2">&#160;</td></tr>
 171 <tr class="memitem:ae1961d0f636da631c35ffaf096187840"><td class="memItemLeft" align="right" valign="top">void __kernel&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="optical__flow__pyramid__lk_8cl.xhtml#ae1961d0f636da631c35ffaf096187840">lktracker_stage0</a> (__global uchar *old_image_ptr, uint old_image_stride_x, uint old_image_step_x, uint old_image_stride_y, uint old_image_step_y, uint old_image_offset_first_element_in_bytes, __global uchar *old_scharr_gx_ptr, uint old_scharr_gx_stride_x, uint old_scharr_gx_step_x, uint old_scharr_gx_stride_y, uint old_scharr_gx_step_y, uint old_scharr_gx_offset_first_element_in_bytes, __global uchar *old_scharr_gy_ptr, uint old_scharr_gy_stride_x, uint old_scharr_gy_step_x, uint old_scharr_gy_stride_y, uint old_scharr_gy_step_y, uint old_scharr_gy_offset_first_element_in_bytes, __global float4 *old_points, __global float4 *new_points, __global float4 *coeff, __global short4 *iold_val, const int window_dimension, const int window_dimension_pow2, const int half_window, const float3 border_limits, const float eig_const, const int level0)</td></tr>
 172 <tr class="memdesc:ae1961d0f636da631c35ffaf096187840"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes A11, A12, A22, min_eig, ival, ixval and iyval at level 0th of the pyramid.  <a href="#ae1961d0f636da631c35ffaf096187840">More...</a><br /></td></tr>
 173 <tr class="separator:ae1961d0f636da631c35ffaf096187840"><td class="memSeparator" colspan="2">&#160;</td></tr>
 174 <tr class="memitem:a97401877f0071dbe2443c697b29d80e0"><td class="memItemLeft" align="right" valign="top">void __kernel&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="optical__flow__pyramid__lk_8cl.xhtml#a97401877f0071dbe2443c697b29d80e0">lktracker_stage1</a> (__global uchar *new_image_ptr, uint new_image_stride_x, uint new_image_step_x, uint new_image_stride_y, uint new_image_step_y, uint new_image_offset_first_element_in_bytes, __global float4 *new_points, __global float4 *coeff, __global short4 *iold_val, const int window_dimension, const int window_dimension_pow2, const int half_window, const int num_iterations, const float epsilon, const float3 border_limits, const float eig_const, const int level0, const int term_iteration, const int term_epsilon)</td></tr>
 175 <tr class="memdesc:a97401877f0071dbe2443c697b29d80e0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes the motion vector for a given keypoint.  <a href="#a97401877f0071dbe2443c697b29d80e0">More...</a><br /></td></tr>
 176 <tr class="separator:a97401877f0071dbe2443c697b29d80e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
 177 </table>
 178 <h2 class="groupheader">Macro Definition Documentation</h2>
 179 <a class="anchor" id="ae0b2360d4b8e961bf2709b0663fd9f2a"></a>
 180 <div class="memitem">
 181 <div class="memproto">
 182       <table class="memname">
 183         <tr>
 184           <td class="memname">#define D0&#160;&#160;&#160;((float)(1 &lt;&lt; <a class="el" href="optical__flow__pyramid__lk_8cl.xhtml#aab6bf9cc4b300f72d07a2ebe9939f376">W_BITS</a>))</td>
 185         </tr>
 186       </table>
 187 </div><div class="memdoc">
 188
 189 <p>Definition at line <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00059">59</a> of file <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml">optical_flow_pyramid_lk.cl</a>.</p>
 190
 191 <p>Referenced by <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00207">lktracker_stage0()</a>, and <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00358">lktracker_stage1()</a>.</p>
 192
 193 </div>
 194 </div>
 195 <a class="anchor" id="a52deba56234661c77d4b9573d5175ae2"></a>
 196 <div class="memitem">
 197 <div class="memproto">
 198       <table class="memname">
 199         <tr>
 200           <td class="memname">#define D1&#160;&#160;&#160;(1.0f / (float)(1 &lt;&lt; (W_BITS - 5)))</td>
 201         </tr>
 202       </table>
 203 </div><div class="memdoc">
 204
 205 <p>Definition at line <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00060">60</a> of file <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml">optical_flow_pyramid_lk.cl</a>.</p>
 206
 207 <p>Referenced by <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00207">lktracker_stage0()</a>, and <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00358">lktracker_stage1()</a>.</p>
 208
 209 </div>
 210 </div>
 211 <a class="anchor" id="a0f3927d942874a04e6464bdb946de046"></a>
 212 <div class="memitem">
 213 <div class="memproto">
 214       <table class="memname">
 215         <tr>
 216           <td class="memname">#define DETERMINANT_THR&#160;&#160;&#160;1.0e-07f</td>
 217         </tr>
 218       </table>
 219 </div><div class="memdoc">
 220
 221 <p>Threshold for the determinant. </p>
 222 <p>Used for lost tracking criteria </p>
 223
 224 <p>Definition at line <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00051">51</a> of file <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml">optical_flow_pyramid_lk.cl</a>.</p>
 225
 226 <p>Referenced by <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00358">lktracker_stage1()</a>.</p>
 227
 228 </div>
 229 </div>
 230 <a class="anchor" id="a3955a0fbedb5b3eae9a38801fb01bac5"></a>
 231 <div class="memitem">
 232 <div class="memproto">
 233       <table class="memname">
 234         <tr>
 235           <td class="memname">#define EIGENVALUE_THR&#160;&#160;&#160;1.0e-04f</td>
 236         </tr>
 237       </table>
 238 </div><div class="memdoc">
 239
 240 <p>Thresholds for minimum eigenvalue. </p>
 241 <p>Used for lost tracking criteria </p>
 242
 243 <p>Definition at line <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00054">54</a> of file <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml">optical_flow_pyramid_lk.cl</a>.</p>
 244
 245 <p>Referenced by <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00358">lktracker_stage1()</a>.</p>
 246
 247 </div>
 248 </div>
 249 <a class="anchor" id="a1852457538f524c42f96b66882bd9b35"></a>
 250 <div class="memitem">
 251 <div class="memproto">
 252       <table class="memname">
 253         <tr>
 254           <td class="memname">#define FLT_SCALE&#160;&#160;&#160;(1.0f / (float)(1 &lt;&lt; 20))</td>
 255         </tr>
 256       </table>
 257 </div><div class="memdoc">
 258
 259 <p>Definition at line <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00058">58</a> of file <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml">optical_flow_pyramid_lk.cl</a>.</p>
 260
 261 <p>Referenced by <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00207">lktracker_stage0()</a>, and <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00358">lktracker_stage1()</a>.</p>
 262
 263 </div>
 264 </div>
 265 <a class="anchor" id="aab6bf9cc4b300f72d07a2ebe9939f376"></a>
 266 <div class="memitem">
 267 <div class="memproto">
 268       <table class="memname">
 269         <tr>
 270           <td class="memname">#define W_BITS&#160;&#160;&#160;(14)</td>
 271         </tr>
 272       </table>
 273 </div><div class="memdoc">
 274
 275 <p>Constants used for Lucas-Kanade Algorithm. </p>
 276
 277 <p>Definition at line <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00057">57</a> of file <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml">optical_flow_pyramid_lk.cl</a>.</p>
 278
 279 </div>
 280 </div>
 281 <h2 class="groupheader">Typedef Documentation</h2>
 282 <a class="anchor" id="ad3a2575d8a9005ddf8ce79dda76918f8"></a>
 283 <div class="memitem">
 284 <div class="memproto">
 285       <table class="memname">
 286         <tr>
 287           <td class="memname">typedef struct <a class="el" href="struct_internal_keypoint.xhtml">InternalKeypoint</a>  <a class="el" href="struct_internal_keypoint.xhtml">InternalKeypoint</a></td>
 288         </tr>
 289       </table>
 290 </div><div class="memdoc">
 291
 292 </div>
 293 </div>
 294 <h2 class="groupheader">Function Documentation</h2>
 295 <a class="anchor" id="a0beafe52e6ef0247d036f06bd6da622a"></a>
 296 <div class="memitem">
 297 <div class="memproto">
 298       <table class="memname">
 299         <tr>
 300           <td class="memname">__kernel void finalize </td>
 301           <td>(</td>
 302           <td class="paramtype">__global <a class="el" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> *&#160;</td>
 303           <td class="paramname"><em>new_points_internal</em>, </td>
 304         </tr>
 305         <tr>
 306           <td class="paramkey"></td>
 307           <td></td>
 308           <td class="paramtype">__global <a class="el" href="struct_keypoint.xhtml">Keypoint</a> *&#160;</td>
 309           <td class="paramname"><em>new_points</em>&#160;</td>
 310         </tr>
 311         <tr>
 312           <td></td>
 313           <td>)</td>
 314           <td></td><td></td>
 315         </tr>
 316       </table>
 317 </div><div class="memdoc">
 318
 319 <p>Truncates the coordinates stored in new_points array. </p>
 320 <dl class="params"><dt>Parameters</dt><dd>
 321   <table class="params">
 322     <tr><td class="paramdir">[in]</td><td class="paramname">new_points_internal</td><td>An array of estimate key points that are defined at the new_images high resolution pyramid. </td></tr>
 323     <tr><td class="paramdir">[out]</td><td class="paramname">new_points</td><td>An array of internal key points that are defined at the new_images high resolution pyramid. </td></tr>
 324   </table>
 325   </dd>
 326 </dl>
 327
 328 <p>Definition at line <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00157">157</a> of file <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml">optical_flow_pyramid_lk.cl</a>.</p>
 329
 330 <p>References <a class="el" href="types_8h_source.xhtml#l00042">Keypoint::tracking_status</a>, <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00046">InternalKeypoint::tracking_status</a>, <a class="el" href="types_8h_source.xhtml#l00037">Keypoint::x</a>, <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00044">InternalKeypoint::x</a>, <a class="el" href="types_8h_source.xhtml#l00038">Keypoint::y</a>, and <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00045">InternalKeypoint::y</a>.</p>
 331 <div class="fragment"><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;{</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordtype">int</span> idx = get_global_id(0);</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="comment">// Load internal keypoint</span></div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <a class="code" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> new_point_internal = new_points_internal[idx];</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="comment">// Calculate output point</span></div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <a class="code" href="struct_keypoint.xhtml">Keypoint</a> new_point;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    new_point.<a class="code" href="struct_keypoint.xhtml#a6150e0515f7202e2fb518f7206ed97dc">x</a>               = round(new_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#ad0da36b2558901e21e7a30f6c227a45e">x</a>);</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    new_point.<a class="code" href="struct_keypoint.xhtml#a0a2f84ed7838f07779ae24c5a9086d33">y</a>               = round(new_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#aa4f0d3eebc3c443f9be81bf48561a217">y</a>);</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    new_point.<a class="code" href="struct_keypoint.xhtml#a7edfed755585d6095522904dbe0ec4d8">tracking_status</a> = new_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#a08361efa212a9ab04a5965766ea942d5">tracking_status</a>;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="comment">// Store new point</span></div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    new_points[idx] = new_point;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;}</div><div class="ttc" id="struct_internal_keypoint_xhtml_ad0da36b2558901e21e7a30f6c227a45e"><div class="ttname"><a href="struct_internal_keypoint.xhtml#ad0da36b2558901e21e7a30f6c227a45e">InternalKeypoint::x</a></div><div class="ttdeci">float x</div><div class="ttdoc">The x coordinate. </div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00044">optical_flow_pyramid_lk.cl:44</a></div></div>
 332 <div class="ttc" id="struct_internal_keypoint_xhtml_a08361efa212a9ab04a5965766ea942d5"><div class="ttname"><a href="struct_internal_keypoint.xhtml#a08361efa212a9ab04a5965766ea942d5">InternalKeypoint::tracking_status</a></div><div class="ttdeci">float tracking_status</div><div class="ttdoc">A zero indicates a lost point. </div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00046">optical_flow_pyramid_lk.cl:46</a></div></div>
 333 <div class="ttc" id="struct_keypoint_xhtml"><div class="ttname"><a href="struct_keypoint.xhtml">Keypoint</a></div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.xhtml#l00035">types.h:35</a></div></div>
 334 <div class="ttc" id="struct_keypoint_xhtml_a0a2f84ed7838f07779ae24c5a9086d33"><div class="ttname"><a href="struct_keypoint.xhtml#a0a2f84ed7838f07779ae24c5a9086d33">Keypoint::y</a></div><div class="ttdeci">int y</div><div class="ttdoc">The y coordinate. </div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.xhtml#l00038">types.h:38</a></div></div>
 335 <div class="ttc" id="struct_internal_keypoint_xhtml"><div class="ttname"><a href="struct_internal_keypoint.xhtml">InternalKeypoint</a></div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00042">optical_flow_pyramid_lk.cl:42</a></div></div>
 336 <div class="ttc" id="struct_keypoint_xhtml_a7edfed755585d6095522904dbe0ec4d8"><div class="ttname"><a href="struct_keypoint.xhtml#a7edfed755585d6095522904dbe0ec4d8">Keypoint::tracking_status</a></div><div class="ttdeci">int tracking_status</div><div class="ttdoc">A zero indicates a lost point. </div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.xhtml#l00042">types.h:42</a></div></div>
 337 <div class="ttc" id="struct_keypoint_xhtml_a6150e0515f7202e2fb518f7206ed97dc"><div class="ttname"><a href="struct_keypoint.xhtml#a6150e0515f7202e2fb518f7206ed97dc">Keypoint::x</a></div><div class="ttdeci">int x</div><div class="ttdoc">The x coordinate. </div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.xhtml#l00037">types.h:37</a></div></div>
 338 <div class="ttc" id="struct_internal_keypoint_xhtml_aa4f0d3eebc3c443f9be81bf48561a217"><div class="ttname"><a href="struct_internal_keypoint.xhtml#aa4f0d3eebc3c443f9be81bf48561a217">InternalKeypoint::y</a></div><div class="ttdeci">float y</div><div class="ttdoc">The y coordinate. </div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00045">optical_flow_pyramid_lk.cl:45</a></div></div>
 339 </div><!-- fragment -->
 340 </div>
 341 </div>
 342 <a class="anchor" id="a73bd536f33d9707d1165a0fce16db833"></a>
 343 <div class="memitem">
 344 <div class="memproto">
 345       <table class="memname">
 346         <tr>
 347           <td class="memname">__kernel void init_level </td>
 348           <td>(</td>
 349           <td class="paramtype">__global float4 *&#160;</td>
 350           <td class="paramname"><em>old_points_internal</em>, </td>
 351         </tr>
 352         <tr>
 353           <td class="paramkey"></td>
 354           <td></td>
 355           <td class="paramtype">__global float4 *&#160;</td>
 356           <td class="paramname"><em>new_points_internal</em>, </td>
 357         </tr>
 358         <tr>
 359           <td class="paramkey"></td>
 360           <td></td>
 361           <td class="paramtype">const float&#160;</td>
 362           <td class="paramname"><em>scale</em>&#160;</td>
 363         </tr>
 364         <tr>
 365           <td></td>
 366           <td>)</td>
 367           <td></td><td></td>
 368         </tr>
 369       </table>
 370 </div><div class="memdoc">
 371
 372 <p>Initializes the internal new points array when the level of pyramid is NOT equal to max. </p>
 373 <dl class="params"><dt>Parameters</dt><dd>
 374   <table class="params">
 375     <tr><td class="paramdir">[in,out]</td><td class="paramname">old_points_internal</td><td>An array of internal key points that are defined at the old_images high resolution pyramid. </td></tr>
 376     <tr><td class="paramdir">[in,out]</td><td class="paramname">new_points_internal</td><td>An array of internal key points that are defined at the new_images high resolution pyramid. </td></tr>
 377     <tr><td class="paramdir">[in]</td><td class="paramname">scale</td><td>Scale factor to apply for the new_point coordinates. </td></tr>
 378   </table>
 379   </dd>
 380 </dl>
 381
 382 <p>Definition at line <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00068">68</a> of file <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml">optical_flow_pyramid_lk.cl</a>.</p>
 383 <div class="fragment"><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;{</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordtype">int</span> idx = get_global_id(0);</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="comment">// Get old and new keypoints</span></div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    float4 old_point = old_points_internal[idx];</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    float4 new_point = new_points_internal[idx];</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="comment">// Scale accordingly with the pyramid_scale</span></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    old_point.xy *= (float2)(2.0f);</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    new_point.xy *= (float2)(2.0f);</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    old_points_internal[idx] = old_point;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    new_points_internal[idx] = new_point;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;}</div></div><!-- fragment -->
 384 </div>
 385 </div>
 386 <a class="anchor" id="a324194275a47768c0460d19b16b477db"></a>
 387 <div class="memitem">
 388 <div class="memproto">
 389       <table class="memname">
 390         <tr>
 391           <td class="memname">__kernel void init_level_max </td>
 392           <td>(</td>
 393           <td class="paramtype">__global <a class="el" href="struct_keypoint.xhtml">Keypoint</a> *&#160;</td>
 394           <td class="paramname"><em>old_points</em>, </td>
 395         </tr>
 396         <tr>
 397           <td class="paramkey"></td>
 398           <td></td>
 399           <td class="paramtype">__global <a class="el" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> *&#160;</td>
 400           <td class="paramname"><em>old_points_internal</em>, </td>
 401         </tr>
 402         <tr>
 403           <td class="paramkey"></td>
 404           <td></td>
 405           <td class="paramtype">__global <a class="el" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> *&#160;</td>
 406           <td class="paramname"><em>new_points_internal</em>, </td>
 407         </tr>
 408         <tr>
 409           <td class="paramkey"></td>
 410           <td></td>
 411           <td class="paramtype">const float&#160;</td>
 412           <td class="paramname"><em>scale</em>&#160;</td>
 413         </tr>
 414         <tr>
 415           <td></td>
 416           <td>)</td>
 417           <td></td><td></td>
 418         </tr>
 419       </table>
 420 </div><div class="memdoc">
 421
 422 <p>Initializes the internal new points array when the level of pyramid is equal to max. </p>
 423 <dl class="params"><dt>Parameters</dt><dd>
 424   <table class="params">
 425     <tr><td class="paramdir">[in]</td><td class="paramname">old_points</td><td>An array of key points that are defined at the old_images high resolution pyramid. </td></tr>
 426     <tr><td class="paramdir">[in,out]</td><td class="paramname">old_points_internal</td><td>An array of internal key points that are defined at the old_images high resolution pyramid. </td></tr>
 427     <tr><td class="paramdir">[out]</td><td class="paramname">new_points_internal</td><td>An array of internal key points that are defined at the new_images high resolution pyramid. </td></tr>
 428     <tr><td class="paramdir">[in]</td><td class="paramname">scale</td><td>Scale factor to apply for the new_point coordinates. </td></tr>
 429   </table>
 430   </dd>
 431 </dl>
 432
 433 <p>Definition at line <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00094">94</a> of file <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml">optical_flow_pyramid_lk.cl</a>.</p>
 434
 435 <p>References <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00046">InternalKeypoint::tracking_status</a>, <a class="el" href="types_8h_source.xhtml#l00037">Keypoint::x</a>, <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00044">InternalKeypoint::x</a>, <a class="el" href="types_8h_source.xhtml#l00038">Keypoint::y</a>, and <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00045">InternalKeypoint::y</a>.</p>
 436 <div class="fragment"><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;{</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordtype">int</span> idx = get_global_id(0);</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <a class="code" href="struct_keypoint.xhtml">Keypoint</a> old_point = old_points[idx];</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="comment">// Get old keypoint to track</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <a class="code" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> old_point_internal;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    old_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#ad0da36b2558901e21e7a30f6c227a45e">x</a>               = old_point.<a class="code" href="struct_keypoint.xhtml#a6150e0515f7202e2fb518f7206ed97dc">x</a> * scale;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    old_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#aa4f0d3eebc3c443f9be81bf48561a217">y</a>               = old_point.<a class="code" href="struct_keypoint.xhtml#a0a2f84ed7838f07779ae24c5a9086d33">y</a> * scale;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    old_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#a08361efa212a9ab04a5965766ea942d5">tracking_status</a> = 1.f;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="comment">// Store internal keypoints</span></div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    old_points_internal[idx] = old_point_internal;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    new_points_internal[idx] = old_point_internal;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;}</div><div class="ttc" id="struct_internal_keypoint_xhtml_ad0da36b2558901e21e7a30f6c227a45e"><div class="ttname"><a href="struct_internal_keypoint.xhtml#ad0da36b2558901e21e7a30f6c227a45e">InternalKeypoint::x</a></div><div class="ttdeci">float x</div><div class="ttdoc">The x coordinate. </div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00044">optical_flow_pyramid_lk.cl:44</a></div></div>
 437 <div class="ttc" id="struct_internal_keypoint_xhtml_a08361efa212a9ab04a5965766ea942d5"><div class="ttname"><a href="struct_internal_keypoint.xhtml#a08361efa212a9ab04a5965766ea942d5">InternalKeypoint::tracking_status</a></div><div class="ttdeci">float tracking_status</div><div class="ttdoc">A zero indicates a lost point. </div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00046">optical_flow_pyramid_lk.cl:46</a></div></div>
 438 <div class="ttc" id="struct_keypoint_xhtml"><div class="ttname"><a href="struct_keypoint.xhtml">Keypoint</a></div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.xhtml#l00035">types.h:35</a></div></div>
 439 <div class="ttc" id="struct_keypoint_xhtml_a0a2f84ed7838f07779ae24c5a9086d33"><div class="ttname"><a href="struct_keypoint.xhtml#a0a2f84ed7838f07779ae24c5a9086d33">Keypoint::y</a></div><div class="ttdeci">int y</div><div class="ttdoc">The y coordinate. </div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.xhtml#l00038">types.h:38</a></div></div>
 440 <div class="ttc" id="struct_internal_keypoint_xhtml"><div class="ttname"><a href="struct_internal_keypoint.xhtml">InternalKeypoint</a></div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00042">optical_flow_pyramid_lk.cl:42</a></div></div>
 441 <div class="ttc" id="struct_keypoint_xhtml_a6150e0515f7202e2fb518f7206ed97dc"><div class="ttname"><a href="struct_keypoint.xhtml#a6150e0515f7202e2fb518f7206ed97dc">Keypoint::x</a></div><div class="ttdeci">int x</div><div class="ttdoc">The x coordinate. </div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.xhtml#l00037">types.h:37</a></div></div>
 442 <div class="ttc" id="struct_internal_keypoint_xhtml_aa4f0d3eebc3c443f9be81bf48561a217"><div class="ttname"><a href="struct_internal_keypoint.xhtml#aa4f0d3eebc3c443f9be81bf48561a217">InternalKeypoint::y</a></div><div class="ttdeci">float y</div><div class="ttdoc">The y coordinate. </div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00045">optical_flow_pyramid_lk.cl:45</a></div></div>
 443 </div><!-- fragment -->
 444 </div>
 445 </div>
 446 <a class="anchor" id="a4b777fd3d432419912e4dbc94fe9d3f5"></a>
 447 <div class="memitem">
 448 <div class="memproto">
 449       <table class="memname">
 450         <tr>
 451           <td class="memname">__kernel void init_level_max_initial_estimate </td>
 452           <td>(</td>
 453           <td class="paramtype">__global <a class="el" href="struct_keypoint.xhtml">Keypoint</a> *&#160;</td>
 454           <td class="paramname"><em>old_points</em>, </td>
 455         </tr>
 456         <tr>
 457           <td class="paramkey"></td>
 458           <td></td>
 459           <td class="paramtype">__global <a class="el" href="struct_keypoint.xhtml">Keypoint</a> *&#160;</td>
 460           <td class="paramname"><em>new_points_estimates</em>, </td>
 461         </tr>
 462         <tr>
 463           <td class="paramkey"></td>
 464           <td></td>
 465           <td class="paramtype">__global <a class="el" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> *&#160;</td>
 466           <td class="paramname"><em>old_points_internal</em>, </td>
 467         </tr>
 468         <tr>
 469           <td class="paramkey"></td>
 470           <td></td>
 471           <td class="paramtype">__global <a class="el" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> *&#160;</td>
 472           <td class="paramname"><em>new_points_internal</em>, </td>
 473         </tr>
 474         <tr>
 475           <td class="paramkey"></td>
 476           <td></td>
 477           <td class="paramtype">const float&#160;</td>
 478           <td class="paramname"><em>scale</em>&#160;</td>
 479         </tr>
 480         <tr>
 481           <td></td>
 482           <td>)</td>
 483           <td></td><td></td>
 484         </tr>
 485       </table>
 486 </div><div class="memdoc">
 487
 488 <p>Initializes the new_points array when the level of pyramid is equal to max and if use_initial_estimate = 1. </p>
 489 <dl class="params"><dt>Parameters</dt><dd>
 490   <table class="params">
 491     <tr><td class="paramdir">[in]</td><td class="paramname">old_points</td><td>An array of key points that are defined at the old_images high resolution pyramid. </td></tr>
 492     <tr><td class="paramdir">[in]</td><td class="paramname">new_points_estimates</td><td>An array of estimate key points that are defined at the old_images high resolution pyramid. </td></tr>
 493     <tr><td class="paramdir">[in,out]</td><td class="paramname">old_points_internal</td><td>An array of internal key points that are defined at the old_images high resolution pyramid. </td></tr>
 494     <tr><td class="paramdir">[out]</td><td class="paramname">new_points_internal</td><td>An array of internal key points that are defined at the new_images high resolution pyramid. </td></tr>
 495     <tr><td class="paramdir">[in]</td><td class="paramname">scale</td><td>Scale factor to apply for the new_point coordinates. </td></tr>
 496   </table>
 497   </dd>
 498 </dl>
 499
 500 <p>Definition at line <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00123">123</a> of file <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml">optical_flow_pyramid_lk.cl</a>.</p>
 501
 502 <p>References <a class="el" href="types_8h_source.xhtml#l00042">Keypoint::tracking_status</a>, <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00046">InternalKeypoint::tracking_status</a>, <a class="el" href="types_8h_source.xhtml#l00037">Keypoint::x</a>, <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00044">InternalKeypoint::x</a>, <a class="el" href="types_8h_source.xhtml#l00038">Keypoint::y</a>, and <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00045">InternalKeypoint::y</a>.</p>
 503 <div class="fragment"><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;{</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keywordtype">int</span> idx = get_global_id(0);</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <a class="code" href="struct_keypoint.xhtml">Keypoint</a>         old_point          = old_points[idx];</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <a class="code" href="struct_keypoint.xhtml">Keypoint</a>         new_point_estimate = new_points_estimates[idx];</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <a class="code" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> old_point_internal;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <a class="code" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> new_point_internal;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="comment">// Get old keypoint to track</span></div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    old_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#ad0da36b2558901e21e7a30f6c227a45e">x</a>               = old_point.<a class="code" href="struct_keypoint.xhtml#a6150e0515f7202e2fb518f7206ed97dc">x</a> * scale;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    old_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#aa4f0d3eebc3c443f9be81bf48561a217">y</a>               = old_point.<a class="code" href="struct_keypoint.xhtml#a0a2f84ed7838f07779ae24c5a9086d33">y</a> * scale;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    old_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#a08361efa212a9ab04a5965766ea942d5">tracking_status</a> = 1.f;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="comment">// Get new keypoint to track</span></div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    new_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#ad0da36b2558901e21e7a30f6c227a45e">x</a>               = new_point_estimate.<a class="code" href="struct_keypoint.xhtml#a6150e0515f7202e2fb518f7206ed97dc">x</a> * scale;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    new_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#aa4f0d3eebc3c443f9be81bf48561a217">y</a>               = new_point_estimate.<a class="code" href="struct_keypoint.xhtml#a0a2f84ed7838f07779ae24c5a9086d33">y</a> * scale;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    new_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#a08361efa212a9ab04a5965766ea942d5">tracking_status</a> = new_point_estimate.<a class="code" href="struct_keypoint.xhtml#a7edfed755585d6095522904dbe0ec4d8">tracking_status</a>;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="comment">// Store internal keypoints</span></div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    old_points_internal[idx] = old_point_internal;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    new_points_internal[idx] = new_point_internal;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;}</div><div class="ttc" id="struct_internal_keypoint_xhtml_ad0da36b2558901e21e7a30f6c227a45e"><div class="ttname"><a href="struct_internal_keypoint.xhtml#ad0da36b2558901e21e7a30f6c227a45e">InternalKeypoint::x</a></div><div class="ttdeci">float x</div><div class="ttdoc">The x coordinate. </div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00044">optical_flow_pyramid_lk.cl:44</a></div></div>
 504 <div class="ttc" id="struct_internal_keypoint_xhtml_a08361efa212a9ab04a5965766ea942d5"><div class="ttname"><a href="struct_internal_keypoint.xhtml#a08361efa212a9ab04a5965766ea942d5">InternalKeypoint::tracking_status</a></div><div class="ttdeci">float tracking_status</div><div class="ttdoc">A zero indicates a lost point. </div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00046">optical_flow_pyramid_lk.cl:46</a></div></div>
 505 <div class="ttc" id="struct_keypoint_xhtml"><div class="ttname"><a href="struct_keypoint.xhtml">Keypoint</a></div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.xhtml#l00035">types.h:35</a></div></div>
 506 <div class="ttc" id="struct_keypoint_xhtml_a0a2f84ed7838f07779ae24c5a9086d33"><div class="ttname"><a href="struct_keypoint.xhtml#a0a2f84ed7838f07779ae24c5a9086d33">Keypoint::y</a></div><div class="ttdeci">int y</div><div class="ttdoc">The y coordinate. </div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.xhtml#l00038">types.h:38</a></div></div>
 507 <div class="ttc" id="struct_internal_keypoint_xhtml"><div class="ttname"><a href="struct_internal_keypoint.xhtml">InternalKeypoint</a></div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00042">optical_flow_pyramid_lk.cl:42</a></div></div>
 508 <div class="ttc" id="struct_keypoint_xhtml_a7edfed755585d6095522904dbe0ec4d8"><div class="ttname"><a href="struct_keypoint.xhtml#a7edfed755585d6095522904dbe0ec4d8">Keypoint::tracking_status</a></div><div class="ttdeci">int tracking_status</div><div class="ttdoc">A zero indicates a lost point. </div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.xhtml#l00042">types.h:42</a></div></div>
 509 <div class="ttc" id="struct_keypoint_xhtml_a6150e0515f7202e2fb518f7206ed97dc"><div class="ttname"><a href="struct_keypoint.xhtml#a6150e0515f7202e2fb518f7206ed97dc">Keypoint::x</a></div><div class="ttdeci">int x</div><div class="ttdoc">The x coordinate. </div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.xhtml#l00037">types.h:37</a></div></div>
 510 <div class="ttc" id="struct_internal_keypoint_xhtml_aa4f0d3eebc3c443f9be81bf48561a217"><div class="ttname"><a href="struct_internal_keypoint.xhtml#aa4f0d3eebc3c443f9be81bf48561a217">InternalKeypoint::y</a></div><div class="ttdeci">float y</div><div class="ttdoc">The y coordinate. </div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00045">optical_flow_pyramid_lk.cl:45</a></div></div>
 511 </div><!-- fragment -->
 512 </div>
 513 </div>
 514 <a class="anchor" id="ae1961d0f636da631c35ffaf096187840"></a>
 515 <div class="memitem">
 516 <div class="memproto">
 517       <table class="memname">
 518         <tr>
 519           <td class="memname">void __kernel lktracker_stage0 </td>
 520           <td>(</td>
 521           <td class="paramtype">__global uchar *&#160;</td>
 522           <td class="paramname"><em>old_image_ptr</em>, </td>
 523         </tr>
 524         <tr>
 525           <td class="paramkey"></td>
 526           <td></td>
 527           <td class="paramtype">uint&#160;</td>
 528           <td class="paramname"><em>old_image_stride_x</em>, </td>
 529         </tr>
 530         <tr>
 531           <td class="paramkey"></td>
 532           <td></td>
 533           <td class="paramtype">uint&#160;</td>
 534           <td class="paramname"><em>old_image_step_x</em>, </td>
 535         </tr>
 536         <tr>
 537           <td class="paramkey"></td>
 538           <td></td>
 539           <td class="paramtype">uint&#160;</td>
 540           <td class="paramname"><em>old_image_stride_y</em>, </td>
 541         </tr>
 542         <tr>
 543           <td class="paramkey"></td>
 544           <td></td>
 545           <td class="paramtype">uint&#160;</td>
 546           <td class="paramname"><em>old_image_step_y</em>, </td>
 547         </tr>
 548         <tr>
 549           <td class="paramkey"></td>
 550           <td></td>
 551           <td class="paramtype">uint&#160;</td>
 552           <td class="paramname"><em>old_image_offset_first_element_in_bytes</em>, </td>
 553         </tr>
 554         <tr>
 555           <td class="paramkey"></td>
 556           <td></td>
 557           <td class="paramtype">__global uchar *&#160;</td>
 558           <td class="paramname"><em>old_scharr_gx_ptr</em>, </td>
 559         </tr>
 560         <tr>
 561           <td class="paramkey"></td>
 562           <td></td>
 563           <td class="paramtype">uint&#160;</td>
 564           <td class="paramname"><em>old_scharr_gx_stride_x</em>, </td>
 565         </tr>
 566         <tr>
 567           <td class="paramkey"></td>
 568           <td></td>
 569           <td class="paramtype">uint&#160;</td>
 570           <td class="paramname"><em>old_scharr_gx_step_x</em>, </td>
 571         </tr>
 572         <tr>
 573           <td class="paramkey"></td>
 574           <td></td>
 575           <td class="paramtype">uint&#160;</td>
 576           <td class="paramname"><em>old_scharr_gx_stride_y</em>, </td>
 577         </tr>
 578         <tr>
 579           <td class="paramkey"></td>
 580           <td></td>
 581           <td class="paramtype">uint&#160;</td>
 582           <td class="paramname"><em>old_scharr_gx_step_y</em>, </td>
 583         </tr>
 584         <tr>
 585           <td class="paramkey"></td>
 586           <td></td>
 587           <td class="paramtype">uint&#160;</td>
 588           <td class="paramname"><em>old_scharr_gx_offset_first_element_in_bytes</em>, </td>
 589         </tr>
 590         <tr>
 591           <td class="paramkey"></td>
 592           <td></td>
 593           <td class="paramtype">__global uchar *&#160;</td>
 594           <td class="paramname"><em>old_scharr_gy_ptr</em>, </td>
 595         </tr>
 596         <tr>
 597           <td class="paramkey"></td>
 598           <td></td>
 599           <td class="paramtype">uint&#160;</td>
 600           <td class="paramname"><em>old_scharr_gy_stride_x</em>, </td>
 601         </tr>
 602         <tr>
 603           <td class="paramkey"></td>
 604           <td></td>
 605           <td class="paramtype">uint&#160;</td>
 606           <td class="paramname"><em>old_scharr_gy_step_x</em>, </td>
 607         </tr>
 608         <tr>
 609           <td class="paramkey"></td>
 610           <td></td>
 611           <td class="paramtype">uint&#160;</td>
 612           <td class="paramname"><em>old_scharr_gy_stride_y</em>, </td>
 613         </tr>
 614         <tr>
 615           <td class="paramkey"></td>
 616           <td></td>
 617           <td class="paramtype">uint&#160;</td>
 618           <td class="paramname"><em>old_scharr_gy_step_y</em>, </td>
 619         </tr>
 620         <tr>
 621           <td class="paramkey"></td>
 622           <td></td>
 623           <td class="paramtype">uint&#160;</td>
 624           <td class="paramname"><em>old_scharr_gy_offset_first_element_in_bytes</em>, </td>
 625         </tr>
 626         <tr>
 627           <td class="paramkey"></td>
 628           <td></td>
 629           <td class="paramtype">__global float4 *&#160;</td>
 630           <td class="paramname"><em>old_points</em>, </td>
 631         </tr>
 632         <tr>
 633           <td class="paramkey"></td>
 634           <td></td>
 635           <td class="paramtype">__global float4 *&#160;</td>
 636           <td class="paramname"><em>new_points</em>, </td>
 637         </tr>
 638         <tr>
 639           <td class="paramkey"></td>
 640           <td></td>
 641           <td class="paramtype">__global float4 *&#160;</td>
 642           <td class="paramname"><em>coeff</em>, </td>
 643         </tr>
 644         <tr>
 645           <td class="paramkey"></td>
 646           <td></td>
 647           <td class="paramtype">__global short4 *&#160;</td>
 648           <td class="paramname"><em>iold_val</em>, </td>
 649         </tr>
 650         <tr>
 651           <td class="paramkey"></td>
 652           <td></td>
 653           <td class="paramtype">const int&#160;</td>
 654           <td class="paramname"><em>window_dimension</em>, </td>
 655         </tr>
 656         <tr>
 657           <td class="paramkey"></td>
 658           <td></td>
 659           <td class="paramtype">const int&#160;</td>
 660           <td class="paramname"><em>window_dimension_pow2</em>, </td>
 661         </tr>
 662         <tr>
 663           <td class="paramkey"></td>
 664           <td></td>
 665           <td class="paramtype">const int&#160;</td>
 666           <td class="paramname"><em>half_window</em>, </td>
 667         </tr>
 668         <tr>
 669           <td class="paramkey"></td>
 670           <td></td>
 671           <td class="paramtype">const float3&#160;</td>
 672           <td class="paramname"><em>border_limits</em>, </td>
 673         </tr>
 674         <tr>
 675           <td class="paramkey"></td>
 676           <td></td>
 677           <td class="paramtype">const float&#160;</td>
 678           <td class="paramname"><em>eig_const</em>, </td>
 679         </tr>
 680         <tr>
 681           <td class="paramkey"></td>
 682           <td></td>
 683           <td class="paramtype">const int&#160;</td>
 684           <td class="paramname"><em>level0</em>&#160;</td>
 685         </tr>
 686         <tr>
 687           <td></td>
 688           <td>)</td>
 689           <td></td><td></td>
 690         </tr>
 691       </table>
 692 </div><div class="memdoc">
 693
 694 <p>Computes A11, A12, A22, min_eig, ival, ixval and iyval at level 0th of the pyramid. </p>
 695 <p>These values will be used in step 1.</p>
 696 <dl class="params"><dt>Parameters</dt><dd>
 697   <table class="params">
 698     <tr><td class="paramdir">[in]</td><td class="paramname">old_image_ptr</td><td>Pointer to the input old image. Supported data types: U8 </td></tr>
 699     <tr><td class="paramdir">[in]</td><td class="paramname">old_image_stride_x</td><td>Stride of the input old image in X dimension (in bytes) </td></tr>
 700     <tr><td class="paramdir">[in]</td><td class="paramname">old_image_step_x</td><td>old_image_stride_x * number of elements along X processed per workitem(in bytes) </td></tr>
 701     <tr><td class="paramdir">[in]</td><td class="paramname">old_image_stride_y</td><td>Stride of the input old image in Y dimension (in bytes) </td></tr>
 702     <tr><td class="paramdir">[in]</td><td class="paramname">old_image_step_y</td><td>old_image_stride_y * number of elements along Y processed per workitem(in bytes) </td></tr>
 703     <tr><td class="paramdir">[in]</td><td class="paramname">old_image_offset_first_element_in_bytes</td><td>The offset of the first element in the input old image </td></tr>
 704     <tr><td class="paramdir">[in]</td><td class="paramname">old_scharr_gx_ptr</td><td>Pointer to the input scharr x image. Supported data types: S16 </td></tr>
 705     <tr><td class="paramdir">[in]</td><td class="paramname">old_scharr_gx_stride_x</td><td>Stride of the input scharr x image in X dimension (in bytes) </td></tr>
 706     <tr><td class="paramdir">[in]</td><td class="paramname">old_scharr_gx_step_x</td><td>old_scharr_gx_stride_x * number of elements along X processed per workitem(in bytes) </td></tr>
 707     <tr><td class="paramdir">[in]</td><td class="paramname">old_scharr_gx_stride_y</td><td>Stride of the input scharr x image in Y dimension (in bytes) </td></tr>
 708     <tr><td class="paramdir">[in]</td><td class="paramname">old_scharr_gx_step_y</td><td>old_scharr_gx_stride_y * number of elements along Y processed per workitem(in bytes) </td></tr>
 709     <tr><td class="paramdir">[in]</td><td class="paramname">old_scharr_gx_offset_first_element_in_bytes</td><td>The offset of the first element in the input scharr x image </td></tr>
 710     <tr><td class="paramdir">[in]</td><td class="paramname">old_scharr_gy_ptr</td><td>Pointer to the input scharr y image. Supported data types: S16 </td></tr>
 711     <tr><td class="paramdir">[in]</td><td class="paramname">old_scharr_gy_stride_x</td><td>Stride of the input scharr y image in X dimension (in bytes) </td></tr>
 712     <tr><td class="paramdir">[in]</td><td class="paramname">old_scharr_gy_step_x</td><td>old_scharr_gy_stride_x * number of elements along X processed per workitem(in bytes) </td></tr>
 713     <tr><td class="paramdir">[in]</td><td class="paramname">old_scharr_gy_stride_y</td><td>Stride of the input scharr y image in Y dimension (in bytes) </td></tr>
 714     <tr><td class="paramdir">[in]</td><td class="paramname">old_scharr_gy_step_y</td><td>old_scharr_gy_stride_y * number of elements along Y processed per workitem(in bytes) </td></tr>
 715     <tr><td class="paramdir">[in]</td><td class="paramname">old_scharr_gy_offset_first_element_in_bytes</td><td>The offset of the first element in the input scharr y image </td></tr>
 716     <tr><td class="paramdir">[in]</td><td class="paramname">old_points</td><td>An array of key points. Those key points are defined at the old_images high resolution pyramid </td></tr>
 717     <tr><td class="paramdir">[in,out]</td><td class="paramname">new_points</td><td>An output array of key points. Those key points are defined at the new_images high resolution pyramid </td></tr>
 718     <tr><td class="paramdir">[out]</td><td class="paramname">coeff</td><td>It stores | A11 | A12 | A22 | min_eig | for each keypoint </td></tr>
 719     <tr><td class="paramdir">[out]</td><td class="paramname">iold_val</td><td>It stores | ival | ixval | iyval | dummy | for each point in the window centered on old_keypoint </td></tr>
 720     <tr><td class="paramdir">[in]</td><td class="paramname">window_dimension</td><td>The size of the window on which to perform the algorithm </td></tr>
 721     <tr><td class="paramdir">[in]</td><td class="paramname">window_dimension_pow2</td><td>The squared size of the window on which to perform the algorithm </td></tr>
 722     <tr><td class="paramdir">[in]</td><td class="paramname">half_window</td><td>The half size of the window on which to perform the algorithm </td></tr>
 723     <tr><td class="paramdir">[in]</td><td class="paramname">border_limits</td><td>It stores the right border limit (width - window_dimension - 1, height - window_dimension - 1,) </td></tr>
 724     <tr><td class="paramdir">[in]</td><td class="paramname">eig_const</td><td>1.0f / (float)(2.0f * window_dimension * window_dimension) </td></tr>
 725     <tr><td class="paramdir">[in]</td><td class="paramname">level0</td><td>It is set to 1 if level 0 of the pyramid </td></tr>
 726   </table>
 727   </dd>
 728 </dl>
 729
 730 <p>Definition at line <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00207">207</a> of file <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml">optical_flow_pyramid_lk.cl</a>.</p>
 731
 732 <p>References <a class="el" href="helpers_8h_source.xhtml#l00076">CONVERT_TO_IMAGE_STRUCT_NO_STEP</a>, <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00059">D0</a>, <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00060">D1</a>, <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00058">FLT_SCALE</a>, and <a class="el" href="helpers_8h_source.xhtml#l00201">offset()</a>.</p>
 733 <div class="fragment"><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;{</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <span class="keywordtype">int</span> idx = get_global_id(0);</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    <a class="code" href="struct_image.xhtml">Image</a> old_image     = <a class="code" href="helpers_8h.xhtml#a4334a4a76f8e9628c0fb9e1acf616e2a">CONVERT_TO_IMAGE_STRUCT_NO_STEP</a>(old_image);</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <a class="code" href="struct_image.xhtml">Image</a> old_scharr_gx = <a class="code" href="helpers_8h.xhtml#a4334a4a76f8e9628c0fb9e1acf616e2a">CONVERT_TO_IMAGE_STRUCT_NO_STEP</a>(old_scharr_gx);</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <a class="code" href="struct_image.xhtml">Image</a> old_scharr_gy = <a class="code" href="helpers_8h.xhtml#a4334a4a76f8e9628c0fb9e1acf616e2a">CONVERT_TO_IMAGE_STRUCT_NO_STEP</a>(old_scharr_gy);</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <span class="comment">// Get old keypoint</span></div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    float2 old_keypoint = old_points[idx].xy - (float2)half_window;</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <span class="comment">// Get the floor value</span></div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    float2 iold_keypoint = floor(old_keypoint);</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    <span class="comment">// Check if using the window dimension we can go out of boundary in the following for loops. If so, invalidate the tracked point</span></div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="keywordflow">if</span>(any(iold_keypoint &lt; border_limits.zz) || any(iold_keypoint &gt;= border_limits.xy))</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    {</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        <span class="keywordflow">if</span>(level0 == 1)</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        {</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;            <span class="comment">// Invalidate tracked point as we are at level 0</span></div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;            new_points[idx].s2 = 0.0f;</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        }</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        <span class="comment">// Not valid coordinate. It sets min_eig to 0.0f</span></div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        coeff[idx].s3 = 0.0f;</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    }</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    <span class="comment">// Compute weight for the bilinear interpolation</span></div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    float2 ab = old_keypoint - iold_keypoint;</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <span class="comment">// Weight used for Bilinear-Interpolation on Scharr images</span></div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <span class="comment">// w_scharr.s0 = (1.0f - ab.x) * (1.0f - ab.y)</span></div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    <span class="comment">// w_scharr.s1 = ab.x * (1.0f - ab.y)</span></div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="comment">// w_scharr.s2 = (1.0f - ab.x) * ab.y</span></div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    <span class="comment">// w_scharr.s3 = ab.x * ab.y</span></div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    float4 w_scharr;</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    w_scharr.s3  = ab.x * ab.y;</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    w_scharr.s0  = w_scharr.s3 + 1.0f - ab.x - ab.y;</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    w_scharr.s12 = ab - (float2)w_scharr.s3;</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    <span class="comment">// Weight used for Bilinear-Interpolation on Old and New images</span></div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    <span class="comment">// w.s0 = round(w_scharr.s0 * D0)</span></div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    <span class="comment">// w.s1 = round(w_scharr.s1 * D0)</span></div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    <span class="comment">// w.s2 = round(w_scharr.s2 * D0)</span></div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    <span class="comment">// w.s3 = w.s3 = D0 - w.s0 - w.s1 - w.s2</span></div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    float4 w;</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    w    = round(w_scharr * (float4)<a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#ae0b2360d4b8e961bf2709b0663fd9f2a">D0</a>);</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    w.s3 = <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#ae0b2360d4b8e961bf2709b0663fd9f2a">D0</a> - w.s0 - w.s1 - w.s2; <span class="comment">// Added for matching VX implementation</span></div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    <span class="comment">// G.s0 = A11, G.s1 = A12, G.s2 = A22, G.s3 = min_eig</span></div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    int4 iG = (int4)0;</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    <span class="comment">// Window offset</span></div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    <span class="keywordtype">int</span> window_offset = idx * window_dimension_pow2;</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    <span class="comment">// Compute Spatial Gradient Matrix G</span></div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    <span class="keywordflow">for</span>(ushort ky = 0; ky &lt; window_dimension; ++ky)</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    {</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;        <span class="keywordtype">int</span> offset_y = iold_keypoint.y + ky;</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;        <span class="keywordflow">for</span>(ushort kx = 0; kx &lt; window_dimension; ++kx)</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;        {</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;            <span class="keywordtype">int</span>    offset_x = iold_keypoint.x + kx;</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;            float4 px;</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;            <span class="comment">// Load values from old_image for computing the bilinear interpolation</span></div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;            px = convert_float4((uchar4)(vload2(0, <a class="code" href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(&amp;old_image, offset_x, offset_y)),</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;                                         vload2(0, <a class="code" href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(&amp;old_image, offset_x, offset_y + 1))));</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;            <span class="comment">// old_i.s0 = ival, old_i.s1 = ixval, old_i.s2 = iyval, old_i.s3 = dummy</span></div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;            float4 old_i;</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;            <span class="comment">// Compute bilinear interpolation (with D1 scale factor) for ival</span></div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;            old_i.s0 = dot(px, w) * <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a52deba56234661c77d4b9573d5175ae2">D1</a>;</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;            <span class="comment">// Load values from old_scharr_gx for computing the bilinear interpolation</span></div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;            px = convert_float4((short4)(vload2(0, (__global <span class="keywordtype">short</span> *)<a class="code" href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(&amp;old_scharr_gx, offset_x, offset_y)),</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;                                         vload2(0, (__global <span class="keywordtype">short</span> *)<a class="code" href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(&amp;old_scharr_gx, offset_x, offset_y + 1))));</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;            <span class="comment">// Compute bilinear interpolation for ixval</span></div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;            old_i.s1 = dot(px, w_scharr);</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;            <span class="comment">// Load values from old_scharr_gy for computing the bilinear interpolation</span></div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;            px = convert_float4((short4)(vload2(0, (__global <span class="keywordtype">short</span> *)<a class="code" href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(&amp;old_scharr_gy, offset_x, offset_y)),</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;                                         vload2(0, (__global <span class="keywordtype">short</span> *)<a class="code" href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(&amp;old_scharr_gy, offset_x, offset_y + 1))));</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;            <span class="comment">// Compute bilinear interpolation for iyval</span></div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;            old_i.s2 = dot(px, w_scharr);</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;            <span class="comment">// Rounding (it could be omitted. Used just for matching the VX implementation)</span></div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;            int4 iold = convert_int4(round(old_i));</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;            <span class="comment">// Accumulate values in the Spatial Gradient Matrix</span></div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;            iG.s0 += (int)(iold.s1 * iold.s1);</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;            iG.s1 += (int)(iold.s1 * iold.s2);</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;            iG.s2 += (int)(iold.s2 * iold.s2);</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;            <span class="comment">// Store ival, ixval and iyval</span></div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;            iold_val[window_offset + kx] = convert_short4(iold);</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;        }</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        window_offset += window_dimension;</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    }</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    <span class="comment">// Scale iA11, iA12 and iA22</span></div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    float4 <a class="code" href="namespacearm__compute.xhtml#a1ce9b523fd4f3b5bbcadcd796183455aadfcf28d0734569a6a693bc8194de62bf">G</a> = convert_float4(iG) * (float4)<a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a1852457538f524c42f96b66882bd9b35">FLT_SCALE</a>;</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    <span class="comment">// Compute minimum eigen value</span></div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    G.s3 = (float)(G.s2 + G.s0 - sqrt(pown(G.s0 - G.s2, 2) + 4.0f * G.s1 * G.s1)) * eig_const;</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    <span class="comment">// Store A11. A11, A22 and min_eig</span></div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    coeff[idx] = G;</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;}</div><div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_ae0b2360d4b8e961bf2709b0663fd9f2a"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#ae0b2360d4b8e961bf2709b0663fd9f2a">D0</a></div><div class="ttdeci">#define D0</div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00059">optical_flow_pyramid_lk.cl:59</a></div></div>
 734 <div class="ttc" id="helpers_8h_xhtml_a4334a4a76f8e9628c0fb9e1acf616e2a"><div class="ttname"><a href="helpers_8h.xhtml#a4334a4a76f8e9628c0fb9e1acf616e2a">CONVERT_TO_IMAGE_STRUCT_NO_STEP</a></div><div class="ttdeci">#define CONVERT_TO_IMAGE_STRUCT_NO_STEP(name)</div><div class="ttdef"><b>Definition:</b> <a href="helpers_8h_source.xhtml#l00076">helpers.h:76</a></div></div>
 735 <div class="ttc" id="helpers_8h_xhtml_a009469e4d9b8fce3b6d5e97d2077827d"><div class="ttname"><a href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a></div><div class="ttdeci">__global uchar * offset(const Image *img, int x, int y)</div><div class="ttdoc">Get the pointer position of a Image. </div><div class="ttdef"><b>Definition:</b> <a href="helpers_8h_source.xhtml#l00201">helpers.h:201</a></div></div>
 736 <div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_a52deba56234661c77d4b9573d5175ae2"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#a52deba56234661c77d4b9573d5175ae2">D1</a></div><div class="ttdeci">#define D1</div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00060">optical_flow_pyramid_lk.cl:60</a></div></div>
 737 <div class="ttc" id="struct_image_xhtml"><div class="ttname"><a href="struct_image.xhtml">Image</a></div><div class="ttdoc">Structure to hold Image information. </div><div class="ttdef"><b>Definition:</b> <a href="helpers_8h_source.xhtml#l00095">helpers.h:95</a></div></div>
 738 <div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_a1852457538f524c42f96b66882bd9b35"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#a1852457538f524c42f96b66882bd9b35">FLT_SCALE</a></div><div class="ttdeci">#define FLT_SCALE</div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00058">optical_flow_pyramid_lk.cl:58</a></div></div>
 739 <div class="ttc" id="namespacearm__compute_xhtml_a1ce9b523fd4f3b5bbcadcd796183455aadfcf28d0734569a6a693bc8194de62bf"><div class="ttname"><a href="namespacearm__compute.xhtml#a1ce9b523fd4f3b5bbcadcd796183455aadfcf28d0734569a6a693bc8194de62bf">arm_compute::Channel::G</a></div><div class="ttdoc">Green channel. </div></div>
 740 </div><!-- fragment -->
 741 </div>
 742 </div>
 743 <a class="anchor" id="a97401877f0071dbe2443c697b29d80e0"></a>
 744 <div class="memitem">
 745 <div class="memproto">
 746       <table class="memname">
 747         <tr>
 748           <td class="memname">void __kernel lktracker_stage1 </td>
 749           <td>(</td>
 750           <td class="paramtype">__global uchar *&#160;</td>
 751           <td class="paramname"><em>new_image_ptr</em>, </td>
 752         </tr>
 753         <tr>
 754           <td class="paramkey"></td>
 755           <td></td>
 756           <td class="paramtype">uint&#160;</td>
 757           <td class="paramname"><em>new_image_stride_x</em>, </td>
 758         </tr>
 759         <tr>
 760           <td class="paramkey"></td>
 761           <td></td>
 762           <td class="paramtype">uint&#160;</td>
 763           <td class="paramname"><em>new_image_step_x</em>, </td>
 764         </tr>
 765         <tr>
 766           <td class="paramkey"></td>
 767           <td></td>
 768           <td class="paramtype">uint&#160;</td>
 769           <td class="paramname"><em>new_image_stride_y</em>, </td>
 770         </tr>
 771         <tr>
 772           <td class="paramkey"></td>
 773           <td></td>
 774           <td class="paramtype">uint&#160;</td>
 775           <td class="paramname"><em>new_image_step_y</em>, </td>
 776         </tr>
 777         <tr>
 778           <td class="paramkey"></td>
 779           <td></td>
 780           <td class="paramtype">uint&#160;</td>
 781           <td class="paramname"><em>new_image_offset_first_element_in_bytes</em>, </td>
 782         </tr>
 783         <tr>
 784           <td class="paramkey"></td>
 785           <td></td>
 786           <td class="paramtype">__global float4 *&#160;</td>
 787           <td class="paramname"><em>new_points</em>, </td>
 788         </tr>
 789         <tr>
 790           <td class="paramkey"></td>
 791           <td></td>
 792           <td class="paramtype">__global float4 *&#160;</td>
 793           <td class="paramname"><em>coeff</em>, </td>
 794         </tr>
 795         <tr>
 796           <td class="paramkey"></td>
 797           <td></td>
 798           <td class="paramtype">__global short4 *&#160;</td>
 799           <td class="paramname"><em>iold_val</em>, </td>
 800         </tr>
 801         <tr>
 802           <td class="paramkey"></td>
 803           <td></td>
 804           <td class="paramtype">const int&#160;</td>
 805           <td class="paramname"><em>window_dimension</em>, </td>
 806         </tr>
 807         <tr>
 808           <td class="paramkey"></td>
 809           <td></td>
 810           <td class="paramtype">const int&#160;</td>
 811           <td class="paramname"><em>window_dimension_pow2</em>, </td>
 812         </tr>
 813         <tr>
 814           <td class="paramkey"></td>
 815           <td></td>
 816           <td class="paramtype">const int&#160;</td>
 817           <td class="paramname"><em>half_window</em>, </td>
 818         </tr>
 819         <tr>
 820           <td class="paramkey"></td>
 821           <td></td>
 822           <td class="paramtype">const int&#160;</td>
 823           <td class="paramname"><em>num_iterations</em>, </td>
 824         </tr>
 825         <tr>
 826           <td class="paramkey"></td>
 827           <td></td>
 828           <td class="paramtype">const float&#160;</td>
 829           <td class="paramname"><em>epsilon</em>, </td>
 830         </tr>
 831         <tr>
 832           <td class="paramkey"></td>
 833           <td></td>
 834           <td class="paramtype">const float3&#160;</td>
 835           <td class="paramname"><em>border_limits</em>, </td>
 836         </tr>
 837         <tr>
 838           <td class="paramkey"></td>
 839           <td></td>
 840           <td class="paramtype">const float&#160;</td>
 841           <td class="paramname"><em>eig_const</em>, </td>
 842         </tr>
 843         <tr>
 844           <td class="paramkey"></td>
 845           <td></td>
 846           <td class="paramtype">const int&#160;</td>
 847           <td class="paramname"><em>level0</em>, </td>
 848         </tr>
 849         <tr>
 850           <td class="paramkey"></td>
 851           <td></td>
 852           <td class="paramtype">const int&#160;</td>
 853           <td class="paramname"><em>term_iteration</em>, </td>
 854         </tr>
 855         <tr>
 856           <td class="paramkey"></td>
 857           <td></td>
 858           <td class="paramtype">const int&#160;</td>
 859           <td class="paramname"><em>term_epsilon</em>&#160;</td>
 860         </tr>
 861         <tr>
 862           <td></td>
 863           <td>)</td>
 864           <td></td><td></td>
 865         </tr>
 866       </table>
 867 </div><div class="memdoc">
 868
 869 <p>Computes the motion vector for a given keypoint. </p>
 870 <dl class="params"><dt>Parameters</dt><dd>
 871   <table class="params">
 872     <tr><td class="paramdir">[in]</td><td class="paramname">new_image_ptr</td><td>Pointer to the input new image. Supported data types: U8 </td></tr>
 873     <tr><td class="paramdir">[in]</td><td class="paramname">new_image_stride_x</td><td>Stride of the input new image in X dimension (in bytes) </td></tr>
 874     <tr><td class="paramdir">[in]</td><td class="paramname">new_image_step_x</td><td>new_image_stride_x * number of elements along X processed per workitem(in bytes) </td></tr>
 875     <tr><td class="paramdir">[in]</td><td class="paramname">new_image_stride_y</td><td>Stride of the input new image in Y dimension (in bytes) </td></tr>
 876     <tr><td class="paramdir">[in]</td><td class="paramname">new_image_step_y</td><td>new_image_stride_y * number of elements along Y processed per workitem(in bytes) </td></tr>
 877     <tr><td class="paramdir">[in]</td><td class="paramname">new_image_offset_first_element_in_bytes</td><td>The offset of the first element in the input new image </td></tr>
 878     <tr><td class="paramdir">[in,out]</td><td class="paramname">new_points</td><td>An output array of key points. Those key points are defined at the new_images high resolution pyramid </td></tr>
 879     <tr><td class="paramdir">[in]</td><td class="paramname">coeff</td><td>The | A11 | A12 | A22 | min_eig | for each keypoint </td></tr>
 880     <tr><td class="paramdir">[in]</td><td class="paramname">iold_val</td><td>The | ival | ixval | iyval | dummy | for each point in the window centered on old_keypoint </td></tr>
 881     <tr><td class="paramdir">[in]</td><td class="paramname">window_dimension</td><td>The size of the window on which to perform the algorithm </td></tr>
 882     <tr><td class="paramdir">[in]</td><td class="paramname">window_dimension_pow2</td><td>The squared size of the window on which to perform the algorithm </td></tr>
 883     <tr><td class="paramdir">[in]</td><td class="paramname">half_window</td><td>The half size of the window on which to perform the algorithm </td></tr>
 884     <tr><td class="paramdir">[in]</td><td class="paramname">num_iterations</td><td>The maximum number of iterations </td></tr>
 885     <tr><td class="paramdir">[in]</td><td class="paramname">epsilon</td><td>The value for terminating the algorithm. </td></tr>
 886     <tr><td class="paramdir">[in]</td><td class="paramname">border_limits</td><td>It stores the right border limit (width - window_dimension - 1, height - window_dimension - 1,) </td></tr>
 887     <tr><td class="paramdir">[in]</td><td class="paramname">eig_const</td><td>1.0f / (float)(2.0f * window_dimension * window_dimension) </td></tr>
 888     <tr><td class="paramdir">[in]</td><td class="paramname">level0</td><td>It is set to 1 if level of pyramid = 0 </td></tr>
 889     <tr><td class="paramdir">[in]</td><td class="paramname">term_iteration</td><td>It is set to 1 if termination = VX_TERM_CRITERIA_ITERATIONS </td></tr>
 890     <tr><td class="paramdir">[in]</td><td class="paramname">term_epsilon</td><td>It is set to 1 if termination = VX_TERM_CRITERIA_EPSILON </td></tr>
 891   </table>
 892   </dd>
 893 </dl>
 894
 895 <p>Definition at line <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00358">358</a> of file <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml">optical_flow_pyramid_lk.cl</a>.</p>
 896
 897 <p>References <a class="el" href="helpers_8h_source.xhtml#l00076">CONVERT_TO_IMAGE_STRUCT_NO_STEP</a>, <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00059">D0</a>, <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00060">D1</a>, <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00051">DETERMINANT_THR</a>, <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00054">EIGENVALUE_THR</a>, <a class="el" href="optical__flow__pyramid__lk_8cl_source.xhtml#l00058">FLT_SCALE</a>, and <a class="el" href="helpers_8h_source.xhtml#l00201">offset()</a>.</p>
 898 <div class="fragment"><div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;{</div><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    <span class="keywordtype">int</span>   idx       = get_global_id(0);</div><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;    <a class="code" href="struct_image.xhtml">Image</a> new_image = <a class="code" href="helpers_8h.xhtml#a4334a4a76f8e9628c0fb9e1acf616e2a">CONVERT_TO_IMAGE_STRUCT_NO_STEP</a>(new_image);</div><div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;</div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;    <span class="comment">// G.s0 = A11, G.s1 = A12, G.s2 = A22, G.s3 = min_eig</span></div><div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    float4 <a class="code" href="namespacearm__compute.xhtml#a1ce9b523fd4f3b5bbcadcd796183455aadfcf28d0734569a6a693bc8194de62bf">G</a> = coeff[idx];</div><div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;</div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;    <span class="comment">// Determinant</span></div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    <span class="keywordtype">float</span> D = G.s0 * G.s2 - G.s1 * G.s1;</div><div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;</div><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;    <span class="comment">// Check if it is a good point to track</span></div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;    <span class="keywordflow">if</span>(G.s3 &lt; <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a3955a0fbedb5b3eae9a38801fb01bac5">EIGENVALUE_THR</a> || D &lt; <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a0f3927d942874a04e6464bdb946de046">DETERMINANT_THR</a>)</div><div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;    {</div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;        <span class="keywordflow">if</span>(level0 == 1)</div><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;        {</div><div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;            <span class="comment">// Invalidate tracked point as we are at level 0</span></div><div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;            new_points[idx].s2 = 0;</div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;        }</div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;</div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    }</div><div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;</div><div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    <span class="comment">// Compute inverse</span></div><div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    <span class="comment">//D = native_recip(D);</span></div><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    D = 1.0 / D;</div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;</div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;    <span class="comment">// Get new keypoint</span></div><div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;    float2 new_keypoint = new_points[idx].xy - (float)half_window;</div><div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;</div><div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    <span class="comment">// Get new point</span></div><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;    float2 out_new_point = new_points[idx].xy;</div><div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;</div><div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    <span class="comment">// Keep delta obtained in the previous iteration</span></div><div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    float2 prev_delta = (float2)0.0f;</div><div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;</div><div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    <span class="keywordtype">int</span> j = 0;</div><div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    <span class="keywordflow">while</span>(j &lt; num_iterations)</div><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    {</div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;        <span class="comment">// Get the floor value</span></div><div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;        float2 inew_keypoint = floor(new_keypoint);</div><div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;</div><div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;        <span class="comment">// Check if using the window dimension we can go out of boundary in the following for loops. If so, invalidate the tracked point</span></div><div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;        <span class="keywordflow">if</span>(any(inew_keypoint &lt; border_limits.zz) || any(inew_keypoint &gt;= border_limits.xy))</div><div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;        {</div><div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;            <span class="keywordflow">if</span>(level0 == 1)</div><div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;            {</div><div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;                <span class="comment">// Invalidate tracked point as we are at level 0</span></div><div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;                new_points[idx].s2 = 0.0f;</div><div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;            }</div><div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;            <span class="keywordflow">else</span></div><div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;            {</div><div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;                new_points[idx].xy = out_new_point;</div><div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;            }</div><div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;</div><div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;            <span class="keywordflow">return</span>;</div><div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;        }</div><div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;</div><div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;        <span class="comment">// Compute weight for the bilinear interpolation</span></div><div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;        float2 ab = new_keypoint - inew_keypoint;</div><div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;</div><div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;        <span class="comment">// Weight used for Bilinear-Interpolation on Old and New images</span></div><div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;        <span class="comment">// w.s0 = round((1.0f - ab.x) * (1.0f - ab.y) * D0)</span></div><div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;        <span class="comment">// w.s1 = round(ab.x * (1.0f - ab.y) * D0)</span></div><div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;        <span class="comment">// w.s2 = round((1.0f - ab.x) * ab.y * D0)</span></div><div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;        <span class="comment">// w.s3 = D0 - w.s0 - w.s1 - w.s2</span></div><div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;</div><div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;        float4 w;</div><div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;        w.s3  = ab.x * ab.y;</div><div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;        w.s0  = w.s3 + 1.0f - ab.x - ab.y;</div><div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;        w.s12 = ab - (float2)w.s3;</div><div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;        w     = round(w * (float4)<a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#ae0b2360d4b8e961bf2709b0663fd9f2a">D0</a>);</div><div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;        w.s3  = <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#ae0b2360d4b8e961bf2709b0663fd9f2a">D0</a> - w.s0 - w.s1 - w.s2;</div><div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;</div><div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;        <span class="comment">// Mismatch vector</span></div><div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;        int2 ib = 0;</div><div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;</div><div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;        <span class="comment">// Old val offset</span></div><div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;        <span class="keywordtype">int</span> old_val_offset = idx * window_dimension_pow2;</div><div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;</div><div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">int</span> ky = 0; ky &lt; window_dimension; ++ky)</div><div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;        {</div><div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;            <span class="keywordflow">for</span>(<span class="keywordtype">int</span> kx = 0; kx &lt; window_dimension; ++kx)</div><div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;            {</div><div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;                <span class="comment">// ival, ixval and iyval have been computed in the previous stage</span></div><div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;                int4 old_ival = convert_int4(iold_val[old_val_offset]);</div><div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;</div><div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;                <span class="comment">// Load values from old_image for computing the bilinear interpolation</span></div><div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;                float4 px = convert_float4((uchar4)(vload2(0, <a class="code" href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(&amp;new_image, inew_keypoint.x + kx, inew_keypoint.y + ky)),</div><div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;                                                    vload2(0, <a class="code" href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(&amp;new_image, inew_keypoint.x + kx, inew_keypoint.y + ky + 1))));</div><div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;</div><div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;                <span class="comment">// Compute bilinear interpolation on new image</span></div><div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;                <span class="keywordtype">int</span> jval = (int)round(dot(px, w) * <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a52deba56234661c77d4b9573d5175ae2">D1</a>);</div><div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;</div><div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;                <span class="comment">// Compute luminance difference</span></div><div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;                <span class="keywordtype">int</span> diff = (int)(jval - old_ival.s0);</div><div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;</div><div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;                <span class="comment">// Accumulate values in mismatch vector</span></div><div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;                ib += (diff * old_ival.s12);</div><div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;</div><div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;                <span class="comment">// Update old val offset</span></div><div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;                old_val_offset++;</div><div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;            }</div><div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;        }</div><div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;</div><div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;        float2 b = convert_float2(ib) * (float2)<a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a1852457538f524c42f96b66882bd9b35">FLT_SCALE</a>;</div><div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;</div><div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;        <span class="comment">// Optical Flow</span></div><div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;        float2 delta;</div><div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;</div><div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;        delta.x = (float)((G.s1 * b.y - G.s2 * b.x) * D);</div><div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;        delta.y = (float)((G.s1 * b.x - G.s0 * b.y) * D);</div><div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;</div><div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;        <span class="comment">// Update new point coordinate</span></div><div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;        new_keypoint += delta;</div><div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;</div><div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;        out_new_point = new_keypoint + (float2)half_window;</div><div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;</div><div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;        <span class="keywordflow">if</span>(term_epsilon == 1)</div><div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;        {</div><div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;            <span class="keywordtype">float</span> mag2 = dot(delta, delta);</div><div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;</div><div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;            <span class="keywordflow">if</span>(mag2 &lt;= epsilon)</div><div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;            {</div><div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;                new_points[idx].xy = out_new_point;</div><div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;</div><div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;                <span class="keywordflow">return</span>;</div><div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;            }</div><div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;        }</div><div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;</div><div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;        <span class="comment">// Check convergence analyzing the previous delta</span></div><div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;        <span class="keywordflow">if</span>(j &gt; 0 &amp;&amp; all(fabs(delta + prev_delta) &lt; (float2)0.01f))</div><div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;        {</div><div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;            out_new_point -= delta * (float2)0.5f;</div><div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;</div><div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;            new_points[idx].xy = out_new_point;</div><div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;</div><div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;            <span class="keywordflow">return</span>;</div><div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;        }</div><div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;</div><div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;        <span class="comment">// Update previous delta</span></div><div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;        prev_delta = delta;</div><div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;</div><div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;        <span class="keywordflow">if</span>(term_iteration == 1)</div><div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;        {</div><div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;            j++;</div><div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;        }</div><div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;    }</div><div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;</div><div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;    new_points[idx].xy = out_new_point;</div><div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;}</div><div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_ae0b2360d4b8e961bf2709b0663fd9f2a"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#ae0b2360d4b8e961bf2709b0663fd9f2a">D0</a></div><div class="ttdeci">#define D0</div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00059">optical_flow_pyramid_lk.cl:59</a></div></div>
 899 <div class="ttc" id="helpers_8h_xhtml_a4334a4a76f8e9628c0fb9e1acf616e2a"><div class="ttname"><a href="helpers_8h.xhtml#a4334a4a76f8e9628c0fb9e1acf616e2a">CONVERT_TO_IMAGE_STRUCT_NO_STEP</a></div><div class="ttdeci">#define CONVERT_TO_IMAGE_STRUCT_NO_STEP(name)</div><div class="ttdef"><b>Definition:</b> <a href="helpers_8h_source.xhtml#l00076">helpers.h:76</a></div></div>
 900 <div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_a3955a0fbedb5b3eae9a38801fb01bac5"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#a3955a0fbedb5b3eae9a38801fb01bac5">EIGENVALUE_THR</a></div><div class="ttdeci">#define EIGENVALUE_THR</div><div class="ttdoc">Thresholds for minimum eigenvalue. </div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00054">optical_flow_pyramid_lk.cl:54</a></div></div>
 901 <div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_a0f3927d942874a04e6464bdb946de046"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#a0f3927d942874a04e6464bdb946de046">DETERMINANT_THR</a></div><div class="ttdeci">#define DETERMINANT_THR</div><div class="ttdoc">Threshold for the determinant. </div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00051">optical_flow_pyramid_lk.cl:51</a></div></div>
 902 <div class="ttc" id="helpers_8h_xhtml_a009469e4d9b8fce3b6d5e97d2077827d"><div class="ttname"><a href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a></div><div class="ttdeci">__global uchar * offset(const Image *img, int x, int y)</div><div class="ttdoc">Get the pointer position of a Image. </div><div class="ttdef"><b>Definition:</b> <a href="helpers_8h_source.xhtml#l00201">helpers.h:201</a></div></div>
 903 <div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_a52deba56234661c77d4b9573d5175ae2"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#a52deba56234661c77d4b9573d5175ae2">D1</a></div><div class="ttdeci">#define D1</div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00060">optical_flow_pyramid_lk.cl:60</a></div></div>
 904 <div class="ttc" id="struct_image_xhtml"><div class="ttname"><a href="struct_image.xhtml">Image</a></div><div class="ttdoc">Structure to hold Image information. </div><div class="ttdef"><b>Definition:</b> <a href="helpers_8h_source.xhtml#l00095">helpers.h:95</a></div></div>
 905 <div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_a1852457538f524c42f96b66882bd9b35"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#a1852457538f524c42f96b66882bd9b35">FLT_SCALE</a></div><div class="ttdeci">#define FLT_SCALE</div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00058">optical_flow_pyramid_lk.cl:58</a></div></div>
 906 <div class="ttc" id="namespacearm__compute_xhtml_a1ce9b523fd4f3b5bbcadcd796183455aadfcf28d0734569a6a693bc8194de62bf"><div class="ttname"><a href="namespacearm__compute.xhtml#a1ce9b523fd4f3b5bbcadcd796183455aadfcf28d0734569a6a693bc8194de62bf">arm_compute::Channel::G</a></div><div class="ttdoc">Green channel. </div></div>
 907 </div><!-- fragment -->
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 919   </ul>
 920 </div>
 921 </body>
 922 </html>