Visual Servoing Platform version 3.6.0
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vpTemplateTrackerZNCC.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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 *
38*****************************************************************************/
39#include <visp3/tt/vpTemplateTrackerZNCC.h>
40
54
56{
57 double IW, Tij;
58 int i, j;
59 double i2, j2;
60 int Nbpoint = 0;
61
62 Warp->computeCoeff(tp);
63
64 double moyTij = 0;
65 double moyIW = 0;
66 for (unsigned int point = 0; point < templateSize; point++) {
67 i = ptTemplate[point].y;
68 j = ptTemplate[point].x;
69 X1[0] = j;
70 X1[1] = i;
71 Warp->computeDenom(X1, tp);
72 Warp->warpX(X1, X2, tp);
73
74 j2 = X2[0];
75 i2 = X2[1];
76 if ((j2 < I.getWidth() - 1) && (i2 < I.getHeight() - 1) && (i2 > 0) && (j2 > 0)) {
77 Tij = ptTemplate[point].val;
78 if (!blur)
79 IW = I.getValue(i2, j2);
80 else
81 IW = BI.getValue(i2, j2);
82 moyTij += Tij;
83 moyIW += IW;
84 Nbpoint++;
85 }
86 }
87 ratioPixelIn = (double)Nbpoint / (double)templateSize;
88 if (!Nbpoint) {
89 throw(vpException(vpException::divideByZeroError, "Cannot get cost: size = 0"));
90 }
91
92 moyTij = moyTij / Nbpoint;
93 moyIW = moyIW / Nbpoint;
94
95 double nom = 0;
96 double var1 = 0, var2 = 0;
97 for (unsigned int point = 0; point < templateSize; point++) {
98 i = ptTemplate[point].y;
99 j = ptTemplate[point].x;
100 X1[0] = j;
101 X1[1] = i;
102 Warp->computeDenom(X1, tp);
103 Warp->warpX(X1, X2, tp);
104
105 j2 = X2[0];
106 i2 = X2[1];
107 if ((j2 < I.getWidth() - 1) && (i2 < I.getHeight() - 1) && (i2 > 0) && (j2 > 0)) {
108 Tij = ptTemplate[point].val;
109 if (!blur)
110 IW = I.getValue(i2, j2);
111 else
112 IW = BI.getValue(i2, j2);
113 nom += (Tij - moyTij) * (IW - moyIW);
114 var1 += (IW - moyIW) * (IW - moyIW);
115 var2 += (Tij - moyTij) * (Tij - moyTij);
116
117 Nbpoint++;
118 }
119 }
120 return -nom / sqrt(var1 * var2);
121}
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
Definition vpArray2D.h:305
Implementation of column vector and the associated operations.
void resize(unsigned int i, bool flagNullify=true)
error that can be emitted by ViSP classes.
Definition vpException.h:59
@ divideByZeroError
Division by zero.
Definition vpException.h:82
Definition of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getWidth() const
Definition vpImage.h:242
Type getValue(unsigned int i, unsigned int j) const
Definition vpImage.h:1592
unsigned int getHeight() const
Definition vpImage.h:184
void resize(unsigned int i, bool flagNullify=true)
virtual void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)=0
vpTemplateTrackerZNCC(vpTemplateTrackerWarp *warp)
double getCost(const vpImage< unsigned char > &I, const vpColVector &tp)
vpTemplateTrackerPoint * ptTemplate
vpTemplateTrackerWarp * Warp
vpImage< double > BI
unsigned int templateSize