Visual Servoing Platform version 3.5.0
vpTemplateTrackerBSpline.cpp
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3 * ViSP, open source Visual Servoing Platform software.
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30 *
31 * Description:
32 * Template tracker.
33 *
34 * Authors:
35 * Amaury Dame
36 * Aurelien Yol
37 * Fabien Spindler
38 *
39 *****************************************************************************/
40#include <visp3/tt/vpTemplateTrackerBSpline.h>
41
42#ifndef DOXYGEN_SHOULD_SKIP_THIS
43
44double vpTemplateTrackerBSpline::getSubPixBspline4(const vpImage<double> &I, double r, double t)
45{
46 double res = 0;
47 int cr = (int)(r);
48 int ct = (int)(t);
49 double er = (double)r - cr;
50 double et = (double)t - ct;
51 int height = (int)I.getHeight(); // r
52 int width = (int)I.getWidth(); // t
53 for (int ir = -1; ir <= 2; ir++) {
54 int tr = ir + cr;
55 if (tr >= 0 && tr < height) {
56 for (int it = -1; it <= 2; it++) {
57 int tt = it + ct;
58 if (tt >= 0 && tt < width)
59 res += Bspline4((double)ir - er) * Bspline4((double)it - et) * I[tr][tt];
60 }
61 }
62 }
63 return res;
64}
65
66double vpTemplateTrackerBSpline::Bspline4(double diff)
67{
68 double aDiff = vpMath::abs(diff);
69 if (aDiff < 1.) {
70 return (aDiff * aDiff * (aDiff / 2. - 1) + 4. / 6.);
71 }
72 else if (aDiff < 2.) {
73 double a = 2. - aDiff;
74 return (a * a * a / 6.);
75 }
76 else
77 return 0;
78}
79
80#endif
unsigned int getWidth() const
Definition: vpImage.h:246
unsigned int getHeight() const
Definition: vpImage.h:188
static Type abs(const Type &x)
Definition: vpMath.h:160