Visual Servoing Platform version 3.6.0
Loading...
Searching...
No Matches
vpTemplateTrackerBSpline.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Template tracker.
33 *
34 * Authors:
35 * Amaury Dame
36 * Aurelien Yol
37 *
38*****************************************************************************/
39#include <visp3/tt/vpTemplateTrackerBSpline.h>
40
41#ifndef DOXYGEN_SHOULD_SKIP_THIS
42
43double vpTemplateTrackerBSpline::getSubPixBspline4(const vpImage<double> &I, double r, double t)
44{
45 double res = 0;
46 int cr = (int)(r);
47 int ct = (int)(t);
48 double er = (double)r - cr;
49 double et = (double)t - ct;
50 int height = (int)I.getHeight(); // r
51 int width = (int)I.getWidth(); // t
52 for (int ir = -1; ir <= 2; ir++) {
53 int tr = ir + cr;
54 if (tr >= 0 && tr < height) {
55 for (int it = -1; it <= 2; it++) {
56 int tt = it + ct;
57 if (tt >= 0 && tt < width)
58 res += Bspline4((double)ir - er) * Bspline4((double)it - et) * I[tr][tt];
59 }
60 }
61 }
62 return res;
63}
64
65double vpTemplateTrackerBSpline::Bspline4(double diff)
66{
67 double aDiff = vpMath::abs(diff);
68 if (aDiff < 1.) {
69 return (aDiff * aDiff * (aDiff / 2. - 1) + 4. / 6.);
70 } else if (aDiff < 2.) {
71 double a = 2. - aDiff;
72 return (a * a * a / 6.);
73 } else
74 return 0;
75}
76
77#endif
Definition of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getWidth() const
Definition vpImage.h:242
unsigned int getHeight() const
Definition vpImage.h:184
static Type abs(const Type &x)
Definition vpMath.h:187