vpTemplateTrackerBSpline.cpp

/****************************************************************************
 *
 * $Id: vpTemplateTrackerBSpline.cpp 4574 2014-01-09 08:48:51Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 *
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Template tracker.
 *
 * Authors:
 * Amaury Dame
 * Aurelien Yol
 * Fabien Spindler
 *
 *****************************************************************************/
#include <visp/vpTemplateTrackerBSpline.h>

#ifndef DOXYGEN_SHOULD_SKIP_THIS

double vpTemplateTrackerBSpline::getSubPixBspline4(const vpImage<double> &I, double r, double t)
{
  double res=0;
  int cr=(int)(r);
  int ct=(int)(t);
  double er=(double)r-cr;
  double et=(double)t-ct;
  int height=(int)I.getHeight();//r
  int width=(int)I.getWidth();//t
  int tr,tt;
  for(int ir=-1;ir<=2;ir++)
  {
    tr=ir+cr;
    for(int it=-1;it<=2;it++)
    {
      tt=it+ct;
      if(tr>=0 && tr <height && tt>=0 && tt <width)
        res+=Bspline4((double)ir-er)*Bspline4((double)it-et)*I[tr][tt];
    }
  }
  return res;
}

double vpTemplateTrackerBSpline::Bspline4(double diff)
{
  //double result;
  double aDiff=vpMath::abs(diff);
  if(aDiff<1.)
    return (aDiff*aDiff*aDiff/2.-aDiff*aDiff+4./6.);
  //return (0.5*(1.-aDiff)*(1.-aDiff)*(1.-aDiff)+0.5*(1.-aDiff)*(1.-aDiff)-0.5*(1.-aDiff)+1./6.);
  else if(aDiff<2.)
    return ((2.-aDiff)*(2.-aDiff)*(2.-aDiff)/6.);
  else
    return 0;
}

#endif