49 #include <visp3/core/vpTrackingException.h> 50 #include <visp3/me/vpMe.h> 51 #include <visp3/me/vpMeSite.h> 53 #ifndef DOXYGEN_SHOULD_SKIP_THIS 54 static bool horsImage(
int i,
int j,
int half,
int rows,
int cols)
58 int half_1 = half + 1;
59 int half_3 = half + 3;
62 return ((0 < (half_1 - i)) || ((i - rows + half_3) > 0) || (0 < (half_1 - j)) || ((j - cols + half_3) > 0));
90 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS 96 : i(0), j(0),
i_1(0),
j_1(0),
ifloat(0),
jfloat(0),
v(0),
mask_sign(1),
alpha(0.),
convlt(0.),
normGradient(0),
98 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
106 : i(0), j(0),
i_1(0),
j_1(0),
ifloat(0),
jfloat(0),
v(0),
mask_sign(1),
alpha(0.),
convlt(0.),
normGradient(0),
108 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
123 : i(0), j(0),
i_1(0),
j_1(0),
ifloat(0),
jfloat(0),
v(0),
mask_sign(1),
alpha(0.),
convlt(0.),
normGradient(0),
125 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
138 selectDisplay =
NONE;
155 selectDisplay =
NONE;
169 void vpMeSite::init(
double ip,
double jp,
double alphap,
double convltp,
int sign)
171 selectDisplay =
NONE;
199 selectDisplay = m.selectDisplay;
202 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS 221 unsigned int range_ =
static_cast<unsigned int>(range);
228 double salpha = sin(
alpha);
229 double calpha = cos(
alpha);
233 for (
int k = -range; k <= range; k++) {
234 double ii = (
ifloat + k * salpha);
235 double jj = (
jfloat + k * calpha);
250 list_query_pixels[n] = pel;
254 return (list_query_pixels);
257 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS 272 double salpha = sin(
alpha);
273 double calpha = cos(
alpha);
286 if (I[i1][j1] > I[i2][j2])
297 int height_ =
static_cast<int>(I.
getHeight());
298 int width_ =
static_cast<int>(I.
getWidth());
302 half = (
static_cast<int>(msize) - 1) >> 1;
304 if (horsImage(i, j, half + me->
getStrip(), height_, width_)) {
310 double theta =
alpha + M_PI / 2;
321 if (abs(thetadeg) == 180) {
325 unsigned int index_mask = (
unsigned int)(thetadeg / (
double)me->
getAngleStep());
327 unsigned int i_ =
static_cast<unsigned int>(
i);
328 unsigned int j_ =
static_cast<unsigned int>(
j);
329 unsigned int half_ =
static_cast<unsigned int>(half);
331 unsigned int ihalf = i_ - half_;
332 unsigned int jhalf = j_ - half_;
334 for (
unsigned int a = 0; a < msize; a++) {
335 unsigned int ihalfa = ihalf + a;
336 for (
unsigned int b = 0; b < msize; b++) {
339 I(ihalfa, jhalf + b);
484 double max_convolution = 0;
486 double contraste = 0;
493 unsigned int range = me->
getRange();
499 double contraste_max = 1 + me->
getMu2();
500 double contraste_min = 1 - me->
getMu1();
503 double *likelihood =
new double[2 * range + 1];
514 for (
unsigned int n = 0; n < 2 * range + 1; n++) {
516 double convolution_ = list_query_pixels[n].
convolution(I, me);
521 if (test_contraste) {
522 likelihood[n] = fabs(convolution_ +
convlt);
523 if (likelihood[n] > threshold) {
524 contraste = convolution_ /
convlt;
525 if ((contraste > contraste_min) && (contraste < contraste_max) && fabs(1 - contraste) < diff) {
526 diff = fabs(1 - contraste);
527 max_convolution = convolution_;
537 likelihood[n] = fabs(2 * convolution_);
538 if (likelihood[n] > max && likelihood[n] > threshold) {
539 max_convolution = convolution_;
556 ip.
set_i(list_query_pixels[max_rank].i);
557 ip.
set_j(list_query_pixels[max_rank].j);
561 *
this = list_query_pixels[max_rank];
568 delete[] list_query_pixels;
573 ip.
set_i(list_query_pixels[0].i);
574 ip.
set_j(list_query_pixels[0].j);
579 if (std::fabs(contraste) > std::numeric_limits<double>::epsilon())
584 delete[] list_query_pixels;
593 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS 594 return (os <<
"Alpha: " << vpMeS.
alpha <<
" Convolution: " << vpMeS.
convlt <<
" Flag: " << vpMeS.
suppress 595 <<
" Weight: " << vpMeS.
weight);
597 return (os <<
"Alpha: " << vpMeS.
alpha <<
" Convolution: " << vpMeS.
convlt <<
" Weight: " << vpMeS.
weight);
unsigned int getRange() const
unsigned int getMaskSize() const
friend VISP_EXPORT std::ostream & operator<<(std::ostream &os, vpMeSite &vpMeS)
unsigned int getWidth() const
void display(const vpImage< unsigned char > &I)
double convolution(const vpImage< unsigned char > &ima, const vpMe *me)
Performs search in a given direction(normal) for a given distance(pixels) for a given 'site'...
static void displayPoint(const vpImage< unsigned char > &I, const vpImagePoint &ip, const vpColor &color, unsigned int thickness=1)
static const vpColor green
static int round(const double x)
double getThreshold() const
void set_i(const double ii)
unsigned int getAngleStep() const
static const vpColor cyan
static double sqr(double x)
void setDisplay(vpMeSiteDisplayType select)
vpMeSite * getQueryList(const vpImage< unsigned char > &I, const int range)
vp_deprecated void getSign(const vpImage< unsigned char > &I, const int range)
vpMatrix * getMask() const
void set_j(const double jj)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
vpMeSite & operator=(const vpMeSite &m)
void track(const vpImage< unsigned char > &im, const vpMe *me, const bool test_contraste=true)
unsigned int getHeight() const
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static const vpColor yellow
static const vpColor purple
int operator!=(const vpMeSite &m)
static const vpColor blue