PCL
PhaseMatrices.h
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6 // ----------------------------------------------------------------------------
7 // pcl/PhaseMatrices.h - Released 2024-06-18T15:48:54Z
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50 // ----------------------------------------------------------------------------
51 
52 #ifndef __PCL_PhaseMatrices_h
53 #define __PCL_PhaseMatrices_h
54 
56 
57 #include <pcl/Defs.h>
58 
59 #include <pcl/Image.h>
60 
61 namespace pcl
62 {
63 
64 // ----------------------------------------------------------------------------
65 
87 template <class P1, class P2> inline
89 {
90  const typename GenericImage<P2>::sample::component tiny( 1.0e-20 );
91 
92  size_type N = A.NumberOfPixels();
93 
94  if ( A.IsEmpty() || B.NumberOfPixels() != N )
95  throw Error( "Invalid image geometry in PhaseCorrelationMatrix()" );
96 
97  if ( R.NumberOfPixels() != N )
98  R.AllocateData( A.Width(), B.Width() );
99 
100  if ( R.Status().IsInitializationEnabled() )
101  R.Status().Initialize( "Phase correlation matrix", N );
102 
103  const typename GenericImage<P2>::sample* a = *A;
104  const typename GenericImage<P2>::sample* b = *B;
105  typename GenericImage<P1>::sample* r = *R;
106  typename GenericImage<P1>::sample* rN = r + N;
107 
108  for ( ; r < rN; ++r, ++a, ++b, ++R.Status() )
109  {
110  typename GenericImage<P2>::sample num = *a * ~*b;
111  *r = P1::ToSample( num/Max( tiny, Abs( num ) ) );
112  }
113 }
114 
136 template <class P1, class P2> inline
138 {
139  const typename GenericImage<P2>::sample::component tiny( 1.0e-20 );
140 
141  size_type N = A.NumberOfPixels();
142 
143  if ( A.IsEmpty() || B.NumberOfPixels() != N )
144  throw Error( "Invalid image geometry in CrossPowerSpectrumMatrix()" );
145 
146  if ( R.NumberOfPixels() != N )
147  R.AllocateData( A.Width(), B.Width() );
148 
149  if ( R.Status().IsInitializationEnabled() )
150  R.Status().Initialize( "Cross power spectrum matrix", N );
151 
152  const typename GenericImage<P2>::sample* a = *A;
153  const typename GenericImage<P2>::sample* b = *B;
154  typename GenericImage<P1>::sample* r = *R;
155  typename GenericImage<P1>::sample* rN = r + N;
156 
157  for ( ; r < rN; ++r, ++a, ++b, ++R.Status() )
158  *r = P1::ToSample( (*b * ~*a)/Max( tiny, Abs( *a ) * Abs( *b ) ) );
159 }
160 
161 // ----------------------------------------------------------------------------
162 
163 } // pcl
164 
165 #endif // __PCL_PhaseMatrices_h
166 
167 // ----------------------------------------------------------------------------
168 // EOF pcl/PhaseMatrices.h - Released 2024-06-18T15:48:54Z
A simple exception with an associated error message.
Definition: Exception.h:239
typename pixel_traits::sample sample
Definition: Image.h:305
T Abs(const Complex< T > &c) noexcept
Definition: Complex.h:429
void PhaseCorrelationMatrix(Complex< T > *__restrict__ i, const Complex< T > *__restrict__ j, const Complex< T > *__restrict__ a, const Complex< T > *__restrict__ b) noexcept
Definition: Complex.h:983
void CrossPowerSpectrumMatrix(Complex< T > *__restrict__ i, const Complex< T > *__restrict__ j, const Complex< T > *__restrict__ a, const Complex< T > *__restrict__ b) noexcept
Definition: Complex.h:1015
size_t size_type
Definition: Defs.h:609
constexpr const T & Max(const T &a, const T &b) noexcept
Definition: Utility.h:119
PCL root namespace.
Definition: AbstractImage.h:77