Implementing Lucas Kanade Method - opencv

Question

I have a problem with the execution of my code.
I am trying to make this work:
#include "opencv2/core/core.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "iostream"
using namespace cv;
using namespace std;
int main( )
{
Mat src1,src2;
namedWindow( "corner", CV_WINDOW_AUTOSIZE );
namedWindow( "result", CV_WINDOW_AUTOSIZE );
src1 = imread("RGB_32.png", CV_LOAD_IMAGE_COLOR);
src2 = imread("RGB_33.png", CV_LOAD_IMAGE_COLOR);
//*********************************************************************************
Mat im1,im2;
cvtColor(src1, im1, CV_RGB2GRAY);
cvtColor(src2, im2, CV_RGB2GRAY);
//******************ReduceImageSizeAndDetectCorner**********************************
Mat im2c,
tmp = im2;
pyrDown(tmp,im2c,Size( tmp.cols/2, tmp.rows/2));
Mat dst = Mat::zeros( im2c.size(), CV_32FC1 );
int blockSize = 3;
int apertureSize = 3;
double c = 0.09;
cornerHarris(im2c,dst,blockSize, apertureSize, c, BORDER_DEFAULT);
Mat dst_norm, dst_norm_scaled;
normalize( dst, dst_norm, 0, 255, NORM_MINMAX, CV_32FC1, Mat() );
convertScaleAbs( dst_norm, dst_norm_scaled );
int w=23,nb_pt=0,l=0, alpha=143;
/// Drawing a circle around corners
for( int j = 0+w; j < dst_norm.rows-w ; j++ ){
for( int i = 0+w; i < dst_norm.cols-w; i++ ){
if( (int) dst_norm.at<float>(j,i) > alpha )
{
circle( im2c, Point( i, j ), 0.5, Scalar(0,0,255), 4, 8, 0 );
nb_pt ++ ;
}
}
}
Mat C= Mat:: zeros(nb_pt,2,CV_32FC1) ;
for( int j = 0+w; j < dst_norm.rows-w ; j++ ){
for( int i = 0+w; i < dst_norm.cols-w; i++ ){
if( (int) dst_norm.at<float>(j,i) > alpha ){
C.at <float> (l,0)=j;
C.at <float> (l,1)=i;
l++;
}
}
}
C=2*C;
//******************ImplementLucas&KanadeMethod**************************************
Mat1f Cx,Cy;
Mat Ix_m,Iy_m,It_m,It1,It2;
Cx = (Mat_<float>(2,2) << -1,1,-1,1);
Cy= (Mat_<float>(2,2) << -1,-1,1,1);
Mat Ct1 = (Mat_<float>(2,2) << -1,-1,-1,-1);
Mat Ct2 = Mat::ones( 2, 2, CV_8U );
filter2D(im1,Ix_m,-1,Cx,Point(-1,-1),0,BORDER_DEFAULT);
filter2D(im1,Iy_m,-1,Cy,Point(-1,-1),0,BORDER_DEFAULT);
filter2D(im1,It1,-1,Ct1,Point(-1,-1),0,BORDER_DEFAULT);
filter2D(im1,It2,-1,Ct2,Point(-1,-1),0,BORDER_DEFAULT);
add(It1,It2,It_m);
//initialiser le flot
//Mat u = Mat::zeros( 1, nb_pt, CV_32FC1 );
//Mat v = Mat::zeros( 1, nb_pt, CV_32FC1 );
Mat Ix,Ixd,Iy,Iyd,It,Itd,b,nu,A;
int u,v ;
cv::Scalar color(0,0,255);
int size = 10 ;
int thickness = 10 ;
for (int k=0 ; k < nb_pt ; ++k) {
int j= C.at <float> (k,0);
int i= C.at <float> (k,1);
Ix= Ix_m(Range(j-w,j+w),Range(i-w,i+w));
Iy= Iy_m(Range(j-w,j+w),Range(i-w,i+w));
It= It_m(Range(j-w,j+w),Range(i-w,i+w));
redim(Ix,Ixd);
redim(Iy,Iyd);
redim(It,Itd);
multi(Itd,b);
funct(Ixd,Iyd,A);
Mat inv = A.inv(DECOMP_SVD);
nu = inv * b ;
u= nu.at<float> (0,0);
v= nu.at<float> (0,1);
//cout << "u = "<< u << endl ;
//cout << "v = "<< v << endl ;
cvQuiver(src2,i,j,u,v,color, size, thickness);
}
imshow( "result", src2 );*/
waitKey();
}
I have a problem with the for loop. When k = 2, I get the error "core dumped". But, when I run the code case by case, that is to say I take the case k=0 then k=1,2,..., it works.
Any help please? when k=2