public (int, int) TestCC(NPPImage_32fC1 img, int shiftX, int shiftY)
{
Matrix3x3 mat = Matrix3x3.ShiftAffine(shiftX, shiftY);
img.WarpAffine(imgToTrackRotated, mat.ToAffine(), InterpolationMode.NearestNeighbor);
forward.Exec(imgToTrackRotated.DevicePointerRoi, imgToTrackCplx.DevicePointer);
conjKernel.RunSafe(imgRefCplx, imgToTrackCplx);
fftshiftKernel.RunSafe(imgToTrackCplx, width, height);
backward.Exec(imgToTrackCplx.DevicePointer, img.DevicePointerRoi);
img.Div(img.WidthRoi * img.HeightRoi);
img.MaxIndex(val, x, y);
float v = val;
int hx = x;
int hy = y;
hx -= imgToTrackRotated.WidthRoi / 2;
hy -= imgToTrackRotated.HeightRoi / 2;
CudaDeviceVariable <float> minVal = new CudaDeviceVariable <float>(x.DevicePointer, 4);
CudaDeviceVariable <float> maxVal = new CudaDeviceVariable <float>(y.DevicePointer, 4);
img.MinMax(minVal, maxVal, buffer);
float min = minVal;
float max = maxVal;
img.Sub(min);
img.Div(max - min);
img.ThresholdLTGT(0, 0, 1, 1);
return(hx, hy);
}
public double4 ScanAngles(NPPImage_32fC1 img, double incr, double range, double zero)
{
NppiRect saveRoi = new NppiRect(img.PointRoi, img.SizeRoi);
NppiRect roi = new NppiRect();
roi.x = 0;
roi.y = 0;
roi.width = imgToTrackRotated.WidthRoi;
roi.height = imgToTrackRotated.HeightRoi;
img.SetRoi(roi);
double maxVal = -double.MaxValue;
double maxAng = 0;
double maxX = 0;
double maxY = 0;
//first perform a coarse search
for (double ang = zero - range; ang <= zero + range; ang += 5 * incr)
{
Matrix3x3 mat = Matrix3x3.RotAroundCenter(ang, imgToTrackRotated.Width, imgToTrackRotated.Height);
imgToTrackRotated.Set(0);
img.WarpAffine(imgToTrackRotated, mat.ToAffine(), InterpolationMode.Cubic);
forward.Exec(imgToTrackRotated.DevicePointerRoi, imgToTrackCplx.DevicePointer);
conjKernel.RunSafe(imgRefCplx, imgToTrackCplx);
backward.Exec(imgToTrackCplx.DevicePointer, imgToTrackRotated.DevicePointerRoi);
imgToTrackRotated.Div(imgToTrackRotated.WidthRoi * imgToTrackRotated.HeightRoi);
imgToTrackRotated.MaxIndex(val, x, y);
float v = val;
int hx = x;
int hy = y;
//Console.WriteLine("Found Max at " + ang.ToString("0.000") + " deg (" + hx + ", " + hy + ") = " + v);
if (v > maxVal)
{
maxVal = v;
maxAng = ang;
maxX = x;
maxY = y;
//Console.WriteLine("Max set!");
}
}
zero = maxAng;
range = 10 * incr;
//now perform a fine search but only around the previously found peak
for (double ang = zero - range; ang <= zero + range; ang += incr)
{
Matrix3x3 mat = Matrix3x3.RotAroundCenter(ang, imgToTrackRotated.Width, imgToTrackRotated.Height);
imgToTrackRotated.Set(0);
img.WarpAffine(imgToTrackRotated, mat.ToAffine(), InterpolationMode.Cubic);
int fftWidth = width / 2 + 1;
forward.Exec(imgToTrackRotated.DevicePointerRoi, imgToTrackCplx.DevicePointer);
conjKernel.RunSafe(imgRefCplx, imgToTrackCplx);
backward.Exec(imgToTrackCplx.DevicePointer, imgToTrackRotated.DevicePointerRoi);
imgToTrackRotated.Div(imgToTrackRotated.WidthRoi * imgToTrackRotated.HeightRoi);
imgToTrackRotated.MaxIndex(val, x, y);
float v = val;
int hx = x;
int hy = y;
if (v > maxVal)
{
maxVal = v;
maxAng = ang;
maxX = x;
maxY = y;
//Console.WriteLine("Found Max at " + ang.ToString("0.000") + " deg (" + hx + ", " + hy + ") = " + v);
//Console.WriteLine("Max set!");
}
}
if (maxX > imgToTrackRotated.WidthRoi / 2)
{
maxX -= imgToTrackRotated.WidthRoi;
}
if (maxY > imgToTrackRotated.HeightRoi / 2)
{
maxY -= imgToTrackRotated.HeightRoi;
}
img.SetRoi(saveRoi);
return(new double4(-maxX, -maxY, maxAng, maxVal));
}
