Visual Servoing Platform  version 3.1.0
vpTemplateTrackerZNCC.cpp
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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  * Fabien Spindler
38  *
39  *****************************************************************************/
40 #include <visp3/tt/vpTemplateTrackerZNCC.h>
41 
43 {
44  dW.resize(2, nbParam);
45  G.resize(nbParam);
48 
50 
51  X1.resize(2);
52  X2.resize(2);
53  DI.resize(2);
54 }
55 
57 {
58  double IW, Tij;
59  int i, j;
60  double i2, j2;
61  int Nbpoint = 0;
62 
63  Warp->computeCoeff(tp);
64 
65  double moyTij = 0;
66  double moyIW = 0;
67  for (unsigned int point = 0; point < templateSize; point++) {
68  i = ptTemplate[point].y;
69  j = ptTemplate[point].x;
70  X1[0] = j;
71  X1[1] = i;
72  Warp->computeDenom(X1, tp);
73  Warp->warpX(X1, X2, tp);
74 
75  j2 = X2[0];
76  i2 = X2[1];
77  if ((j2 < I.getWidth() - 1) && (i2 < I.getHeight() - 1) && (i2 > 0) && (j2 > 0)) {
78  Tij = ptTemplate[point].val;
79  if (!blur)
80  IW = I.getValue(i2, j2);
81  else
82  IW = BI.getValue(i2, j2);
83  // IW=getSubPixBspline4(I,i2,j2);
84  moyTij += Tij;
85  moyIW += IW;
86  Nbpoint++;
87  }
88  }
89  ratioPixelIn = (double)Nbpoint / (double)templateSize;
90  if (!Nbpoint) {
91  throw(vpException(vpException::divideByZeroError, "Cannot get cost: size = 0"));
92  }
93 
94  moyTij = moyTij / Nbpoint;
95  moyIW = moyIW / Nbpoint;
96 
97  double nom = 0; //,denom=0;
98  double var1 = 0, var2 = 0;
99  for (unsigned int point = 0; point < templateSize; point++) {
100  i = ptTemplate[point].y;
101  j = ptTemplate[point].x;
102  X1[0] = j;
103  X1[1] = i;
104  Warp->computeDenom(X1, tp);
105  Warp->warpX(X1, X2, tp);
106 
107  j2 = X2[0];
108  i2 = X2[1];
109  if ((j2 < I.getWidth() - 1) && (i2 < I.getHeight() - 1) && (i2 > 0) && (j2 > 0)) {
110  Tij = ptTemplate[point].val;
111  if (!blur)
112  IW = I.getValue(i2, j2);
113  else
114  IW = BI.getValue(i2, j2);
115  // IW=getSubPixBspline4(I,i2,j2);
116  nom += (Tij - moyTij) * (IW - moyIW);
117  // denom+=(Tij-moyTij)*(Tij-moyTij)*(IW-moyIW)*(IW-moyIW);
118  var1 += (IW - moyIW) * (IW - moyIW);
119  var2 += (Tij - moyTij) * (Tij - moyTij);
120 
121  Nbpoint++;
122  }
123  }
124  // if(Nbpoint==0)return 10e10; // cannot occur
125  // return -nom/sqrt(denom);
126  return -nom / sqrt(var1 * var2);
127 }
vpTemplateTrackerPoint * ptTemplate
virtual void warpX(const int &i, const int &j, double &i2, double &j2, const vpColVector &ParamM)=0
void resize(const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true, const bool recopy_=true)
Definition: vpArray2D.h:171
error that can be emited by ViSP classes.
Definition: vpException.h:71
vpImage< double > BI
vpTemplateTrackerZNCC(vpTemplateTrackerWarp *warp)
unsigned int templateSize
Type getValue(double i, double j) const
Definition: vpImage.h:1338
void resize(const unsigned int i, const bool flagNullify=true)
Definition: vpRowVector.h:213
unsigned int getHeight() const
Definition: vpImage.h:178
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
vpTemplateTrackerWarp * Warp
unsigned int getWidth() const
Definition: vpImage.h:229
double getCost(const vpImage< unsigned char > &I, const vpColVector &tp)
void resize(const unsigned int i, const bool flagNullify=true)
Definition: vpColVector.h:241