template <typename PointInT, typename IntensityT> void
pcl::tracking::PyramidalKLTTracker<PointInT, IntensityT>::mismatchVector (const Eigen::ArrayXXf& prev,
const Eigen::ArrayXXf& prev_grad_x,
const Eigen::ArrayXXf& prev_grad_y,
const FloatImage& next,
const Eigen::Array2i& location,
const Eigen::Array4f& weight,
Eigen::Array2f &b) const
{
const int step = next.width;
b.setZero ();
for (int y = 0; y < track_height_; y++)
{
const float* next_ptr = &(next.points[0]) + (y + location[1])*step + location[0];
const float* prev_ptr = prev.data () + y*prev.cols ();
const float* prev_grad_x_ptr = prev_grad_x.data () + y*prev_grad_x.cols ();
const float* prev_grad_y_ptr = prev_grad_y.data () + y*prev_grad_y.cols ();
for (int x = 0; x < track_width_; ++x, ++prev_grad_y_ptr, ++prev_grad_x_ptr)
{
float diff = next_ptr[x]*weight[0] + next_ptr[x+1]*weight[1]
+ next_ptr[x+step]*weight[2] + next_ptr[x+step+1]*weight[3] - prev_ptr[x];
b[0] += *prev_grad_x_ptr * diff;
b[1] += *prev_grad_y_ptr * diff;
}
}
}
template <typename PointInT, typename IntensityT> void
pcl::tracking::PyramidalKLTTracker<PointInT, IntensityT>::spatialGradient (const FloatImage& img,
const FloatImage& grad_x,
const FloatImage& grad_y,
const Eigen::Array2i& location,
const Eigen::Array4f& weight,
Eigen::ArrayXXf& win,
Eigen::ArrayXXf& grad_x_win,
Eigen::ArrayXXf& grad_y_win,
Eigen::Array3f &covariance) const
{
const int step = img.width;
covariance.setZero ();
for (int y = 0; y < track_height_; y++)
{
const float* img_ptr = &(img.points[0]) + (y + location[1])*step + location[0];
const float* grad_x_ptr = &(grad_x.points[0]) + (y + location[1])*step + location[0];
const float* grad_y_ptr = &(grad_y.points[0]) + (y + location[1])*step + location[0];
float* win_ptr = win.data () + y*win.cols ();
float* grad_x_win_ptr = grad_x_win.data () + y*grad_x_win.cols ();
float* grad_y_win_ptr = grad_y_win.data () + y*grad_y_win.cols ();
for (int x =0; x < track_width_; ++x, ++grad_x_ptr, ++grad_y_ptr)
{
*win_ptr++ = img_ptr[x]*weight[0] + img_ptr[x+1]*weight[1] + img_ptr[x+step]*weight[2] + img_ptr[x+step+1]*weight[3];
float ixval = grad_x_ptr[0]*weight[0] + grad_x_ptr[1]*weight[1] + grad_x_ptr[step]*weight[2] + grad_x_ptr[step+1]*weight[3];
float iyval = grad_y_ptr[0]*weight[0] + grad_y_ptr[1]*weight[1] + grad_y_ptr[step]*weight[2] + grad_y_ptr[step+1]*weight[3];
//!!! store those
*grad_x_win_ptr++ = ixval;
*grad_y_win_ptr++ = iyval;
//covariance components
covariance[0] += ixval*ixval;
covariance[1] += ixval*iyval;
covariance[2] += iyval*iyval;
}
}
}