Visual Servoing Platform  version 3.4.1 under development (2021-12-05)
vpTemplateTrackerBSpline.cpp
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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 
44 double 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 
66 double 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
static Type abs(const Type &x)
Definition: vpMath.h:160
unsigned int getHeight() const
Definition: vpImage.h:188
unsigned int getWidth() const
Definition: vpImage.h:246