%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%??Name:?Musawir?Ali?Shah
%%%??Assignment?#3
%%%??Project?title:?Lucas?Kanade?Motion?Estimation?Using?Pyramids?（Level?4）
%%%??Note:?The?project?specification?says?use?density?of?10?in?plotting
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%%%?Usage:?Lucas_Kanade（‘1.bmp‘‘2.bmp‘10）

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function?Lucas_Kanade（file1file2density）;
%%?Read?Images?%%
im11=imread?（file1）;
if?size（size（im11）2）==3
????im1=rgb2gray（im11）;
end
img1?=?im2double?（im1）;
%%?Take?alternating?rows?and?columns?%%
?%[odd1?even1]?=?split?（img1）;
im22=imread?（file2）;
if?size（size（im22）2）==3
????im2=rgb2gray（im22）;
end
img2?=?im2double（im2）;
?%[odd2?even2]?=?split?（img2）;
%%?Run?Lucas?Kanade?%%
?%[Dx?Dy]?=?Estimate?（odd1?odd2）;
[Dx?Dy]?=?Estimate?（img1?img2）;
%%?Plot?%%
figure;?
imshow（imread（file1））;
hold?on;
[maxImaxJ]=size（Dx）;
Dx=Dx（1:density:maxI1:density:maxJ）;
Dy=Dy（1:density:maxI1:density:maxJ）;
quiver（1:density:maxJ（maxI）:（-density）:1Dx-Dy1）;
hold?on;
[maxImaxJ]=size（Dx1）;
Dx1=Dx1（1:density:maxI1:density:maxJ）;
Dy1=Dy1（1:density:maxI1:density:maxJ）;
quiver（1:density:maxJ（maxI）:（-density）:1Dx1-Dy11）;
axis?square;


%%?Run?Lucas?Kanade?on?all?levels?and?interpolate?%%
function?[Dx?Dy]?=?Estimate?（img1?img2）
level?=?4;
half_window_size=2;
[m?n]?=?size?（img1）;
G00?=?img1;?G10?=?img2;
if?（level>0）
????G01?=?reduce?（G00）;?G11?=?reduce?（G10）;
end
if?（level>1）
????G02?=?reduce?（G01）;?G12?=?reduce?（G11）;
end
if?（level>2）
????G03?=?reduce?（G02）;?G13?=?reduce?（G12）;
end
if?（level>3）
????G04?=?reduce?（G03）;?G14?=?reduce?（G13）;
end
l?=?level;

for?i=level:-1:0
????if?（l?==?level）
????????switch?（l）
????????case?4?Dx?=?zeros?（size?（G04））;?Dy?=?zeros?（size?（G04））;
????????case?3?Dx?=?zeros?（size?（G03））;?Dy?=?zeros?（size?（G03））;
????????case?2?Dx?=?zeros?（size?（G02））;?Dy?=?zeros?（size?（G02））;
????????case?1?Dx?=?zeros?（size?（G01））;?Dy?=?zeros?（size?（G01））;
????????case?0?Dx?=?zeros?（size?（G00））;?Dy?=?zeros?（size?（G00））;
????????end
????else
????????Dx?=?expand?（Dx）;?Dy?=?expand?（Dy）;
????????Dx?=?Dx?.*?2;?Dy?=?Dy?.*?2;
????end
????switch?（l）
????case?4?
????????W?=?warp?（G04?Dx?Dy）;?
????????[Vx?Vy]?=?EstimateMotion?（W?G14?half_window_size）;
????case?3?
????????W?=?warp?（G03?Dx?Dy）;?
????????[Vx?Vy]?=?EstimateMotion?（W?G13?half_window_size）;
????case?2?
????????W?=?warp?（G02?Dx?Dy）;?
????????[Vx?Vy]?=?EstimateMotion?（W?G12?half_window_size）;
????case?1?
????????W?=?warp?（G01?Dx?Dy）;?
????????[Vx?Vy]?=?EstimateMotion?（W?G11?half_window_size）;
????case?0?
????????W?=?warp?（G00?Dx?Dy）;?
????????[Vx?Vy]?=?EstimateMotion?（W?G10?half_window_size）;
????end
????[m?n]?=?size?（W）;
????Dx（1:m?1:n）?=?Dx（1:m1:n）?+?Vx;?Dy（1:m?1:n）?=?Dy（1:m?1:n）?+?Vy;
????smooth?（Dx）;?smooth?（Dy）;
????l?=?l?-?1;
end


%%?Lucas?Kanad

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2019-02-25?22:14??Lucas_Kanade\
?????文件???????64078??2003-04-08?18:03??Lucas_Kanade\1.bmp
?????文件???????81110??2009-04-09?13:04??Lucas_Kanade\11.bmp
?????文件???????64078??2003-04-08?18:03??Lucas_Kanade\2.bmp
?????文件???????82302??2009-04-09?13:04??Lucas_Kanade\22.bmp
?????文件???????21958??2003-04-07?14:03??Lucas_Kanade\3.bmp
?????文件???????21958??2003-04-07?14:03??Lucas_Kanade\4.bmp
?????文件???????82302??2009-04-09?14:07??Lucas_Kanade\a.bmp
?????文件???????82302??2009-04-09?14:08??Lucas_Kanade\b.bmp
?????文件??????132186??2019-02-25?20:46??Lucas_Kanade\frame10.jpg
?????文件??????403108??2007-07-28?03:16??Lucas_Kanade\frame10.png
?????文件??????128038??2019-02-25?20:46??Lucas_Kanade\frame11.jpg
?????文件??????402536??2007-07-28?03:16??Lucas_Kanade\frame11.png
?????文件??????169984??2004-04-18?03:57??Lucas_Kanade\Lucas.doc
?????文件????????7312??2019-02-25?22:35??Lucas_Kanade\Lucas_Kanade.m
?????文件?????????310??2019-02-25?22:06??Lucas_Kanade\tests.m
?????文件??????????31??2012-03-15?16:52??Lucas_Kanade\Untitled.m