Visual Servoing Platform  version 3.3.0
vpTemplateTrackerSSDForwardCompositional.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/core/vpImageFilter.h>
41 #include <visp3/tt/vpTemplateTrackerSSDForwardCompositional.h>
42 
44  : vpTemplateTrackerSSD(warp), compoInitialised(false)
45 {
46 }
47 
49 {
50  for (unsigned int point = 0; point < templateSize; point++) {
51  int i = ptTemplate[point].y;
52  int j = ptTemplate[point].x;
53  ptTemplate[point].dW = new double[2 * nbParam];
54  X1[0] = j;
55  X1[1] = i;
56  Warp->computeDenom(X1, p);
57  Warp->getdWdp0(i, j, ptTemplate[point].dW);
58  }
59  compoInitialised = true;
60 }
61 
63 
65 {
66  if (!compoInitialised) {
67  std::cout << "Compositionnal tracking not initialised.\nUse initCompo() function." << std::endl;
68  }
69 
70  if (blur) {
72  }
75 
76  dW = 0;
77 
78  double lambda = lambdaDep;
79  double IW, dIWx, dIWy;
80  double Tij;
81  unsigned int iteration = 0;
82  int i, j;
83  double i2, j2;
84  double alpha = 2.;
85 
87 
88  double evolRMS_init = 0;
89  double evolRMS_prec = 0;
90  double evolRMS_delta;
91 
92  do {
93  unsigned int Nbpoint = 0;
94  double erreur = 0;
95  G = 0;
96  H = 0;
97  Warp->computeCoeff(p);
98  for (unsigned int point = 0; point < templateSize; point++) {
99  i = ptTemplate[point].y;
100  j = ptTemplate[point].x;
101  X1[0] = j;
102  X1[1] = i;
103 
104  Warp->computeDenom(X1, p);
105  Warp->warpX(X1, X2, p);
106 
107  j2 = X2[0];
108  i2 = X2[1];
109  if ((i2 >= 0) && (j2 >= 0) && (i2 < I.getHeight() - 1) && (j2 < I.getWidth() - 1)) {
110  Tij = ptTemplate[point].val;
111  if (!blur)
112  IW = I.getValue(i2, j2);
113  else
114  IW = BI.getValue(i2, j2);
115  dIWx = dIx.getValue(i2, j2);
116  dIWy = dIy.getValue(i2, j2);
117  Nbpoint++;
118 
119  Warp->dWarpCompo(X1, X2, p, ptTemplate[point].dW, dW);
120 
121  double *tempt = new double[nbParam];
122  for (unsigned int it = 0; it < nbParam; it++)
123  tempt[it] = dW[0][it] * dIWx + dW[1][it] * dIWy;
124 
125  for (unsigned int it = 0; it < nbParam; it++)
126  for (unsigned int jt = 0; jt < nbParam; jt++)
127  H[it][jt] += tempt[it] * tempt[jt];
128 
129  double er = (Tij - IW);
130  for (unsigned int it = 0; it < nbParam; it++)
131  G[it] += er * tempt[it];
132 
133  erreur += (er * er);
134  delete[] tempt;
135  }
136  }
137  if (Nbpoint == 0) {
138  throw(vpTrackingException(vpTrackingException::notEnoughPointError, "No points in the template"));
139  }
140 
141  vpMatrix::computeHLM(H, lambda, HLM);
142 
143  try {
144  dp = HLM.inverseByLU() * G;
145  } catch (const vpException &e) {
146  throw(e);
147  }
148 
149  dp = gain * dp;
150  if (useBrent) {
151  alpha = 2.;
152  computeOptimalBrentGain(I, p, erreur / Nbpoint, dp, alpha);
153  dp = alpha * dp;
154  }
155  Warp->pRondp(p, dp, p);
156 
157  computeEvalRMS(p);
158 
159  if (iteration == 0) {
160  evolRMS_init = evolRMS;
161  }
162  iteration++;
163 
164  evolRMS_delta = std::fabs(evolRMS - evolRMS_prec);
165  evolRMS_prec = evolRMS;
166 
167  } while ( (iteration < iterationMax) && (evolRMS_delta > std::fabs(evolRMS_init)*evolRMS_eps) );
168 
169  nbIteration = iteration;
170 }
vpTemplateTrackerSSDForwardCompositional::initHessienDesired
void initHessienDesired(const vpImage< unsigned char > &I)
Definition: vpTemplateTrackerSSDForwardCompositional.cpp:61
vpTrackingException
Error that can be emited by the vpTracker class and its derivates.
Definition: vpTrackingException.h:68
vpTemplateTracker::G
vpColVector G
Definition: vpTemplateTracker.h:104
vpTemplateTracker::taillef
unsigned int taillef
Definition: vpTemplateTracker.h:112
vpImage::getValue
Type getValue(unsigned int i, unsigned int j) const
Definition: vpImage.h:1421
vpTemplateTrackerWarp
Definition: vpTemplateTrackerWarp.h:57
vpTemplateTracker::initPosEvalRMS
void initPosEvalRMS(const vpColVector &p)
Definition: vpTemplateTracker.cpp:957
vpTemplateTracker::ptTemplate
vpTemplateTrackerPoint * ptTemplate
Definition: vpTemplateTracker.h:74
vpTemplateTracker::HLM
vpMatrix HLM
Definition: vpTemplateTracker.h:99
vpTemplateTracker::useBrent
bool useBrent
Definition: vpTemplateTracker.h:110
vpTemplateTracker::dp
vpColVector dp
Definition: vpTemplateTracker.h:132
vpTemplateTrackerWarp::dWarpCompo
virtual void dWarpCompo(const vpColVector &X1, const vpColVector &X2, const vpColVector &ParamM, const double *dwdp0, vpMatrix &dW)=0
vpImageFilter::filter
static void filter(const vpImage< double > &I, vpImage< double > &Iu, vpImage< double > &Iv, const vpMatrix &M, bool convolve=false)
Definition: vpImageFilter.cpp:126
vpTemplateTracker::X2
vpColVector X2
Definition: vpTemplateTracker.h:136
vpTemplateTracker::fgdG
double * fgdG
Definition: vpTemplateTracker.h:114
vpTemplateTracker::computeOptimalBrentGain
void computeOptimalBrentGain(const vpImage< unsigned char > &I, vpColVector &tp, double tMI, vpColVector &direction, double &alpha)
Definition: vpTemplateTracker.cpp:391
vpTemplateTracker::fgG
double * fgG
Definition: vpTemplateTracker.h:113
vpTemplateTrackerSSDForwardCompositional::compoInitialised
bool compoInitialised
Definition: vpTemplateTrackerSSDForwardCompositional.h:57
vpTemplateTracker::evolRMS
double evolRMS
Definition: vpTemplateTracker.h:69
vpTemplateTracker::blur
bool blur
Definition: vpTemplateTracker.h:109
vpTrackingException::notEnoughPointError
Definition: vpTrackingException.h:79
vpTemplateTrackerSSDForwardCompositional::trackNoPyr
void trackNoPyr(const vpImage< unsigned char > &I)
Definition: vpTemplateTrackerSSDForwardCompositional.cpp:63
vpImageFilter::getGradYGauss2D
static void getGradYGauss2D(const vpImage< unsigned char > &I, vpImage< double > &dIy, const double *gaussianKernel, const double *gaussianDerivativeKernel, unsigned int size)
Definition: vpImageFilter.cpp:766
vpTemplateTrackerWarp::warpX
virtual void warpX(const int &i, const int &j, double &i2, double &j2, const vpColVector &ParamM)=0
vpTemplateTracker::templateSize
unsigned int templateSize
Definition: vpTemplateTracker.h:77
vpTemplateTracker::computeEvalRMS
void computeEvalRMS(const vpColVector &p)
Definition: vpTemplateTracker.cpp:924
vpTemplateTracker::X1
vpColVector X1
Definition: vpTemplateTracker.h:135
vpTemplateTrackerSSDForwardCompositional::initCompo
void initCompo(const vpImage< unsigned char > &I)
Definition: vpTemplateTrackerSSDForwardCompositional.cpp:47
vpTemplateTracker::BI
vpImage< double > BI
Definition: vpTemplateTracker.h:140
vpTemplateTracker::nbIteration
unsigned int nbIteration
Definition: vpTemplateTracker.h:125
vpTemplateTracker::dW
vpMatrix dW
Definition: vpTemplateTracker.h:138
vpTemplateTrackerPoint::val
double val
Definition: vpTemplateTrackerHeader.h:74
vpTemplateTrackerSSDForwardCompositional::vpTemplateTrackerSSDForwardCompositional
vpTemplateTrackerSSDForwardCompositional(vpTemplateTrackerWarp *warp)
Definition: vpTemplateTrackerSSDForwardCompositional.cpp:42
vpTemplateTrackerWarp::pRondp
virtual void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &pres) const =0
vpTemplateTracker::iterationMax
unsigned int iterationMax
Definition: vpTemplateTracker.h:120
vpTemplateTracker::nbParam
unsigned int nbParam
Definition: vpTemplateTracker.h:118
vpImage::getHeight
unsigned int getHeight() const
Definition: vpImage.h:185
vpTemplateTracker::dIy
vpImage< double > dIy
Definition: vpTemplateTracker.h:142
vpMatrix::inverseByLU
vpMatrix inverseByLU() const
Definition: vpMatrix_lu.cpp:133
vpTemplateTracker::H
vpMatrix H
Definition: vpTemplateTracker.h:96
vpTemplateTrackerPoint::y
int y
Definition: vpTemplateTrackerHeader.h:72
vpTemplateTracker::dIx
vpImage< double > dIx
Definition: vpTemplateTracker.h:141
vpTemplateTrackerSSD
Definition: vpTemplateTrackerSSD.h:62
vpTemplateTracker::lambdaDep
double lambdaDep
Definition: vpTemplateTracker.h:119
vpTemplateTrackerPoint::dW
double * dW
Definition: vpTemplateTrackerHeader.h:75
vpTemplateTracker::p
vpColVector p
Definition: vpTemplateTracker.h:131
vpMatrix::computeHLM
static void computeHLM(const vpMatrix &H, const double &alpha, vpMatrix &HLM)
Definition: vpMatrix.cpp:5452
vpImage< unsigned char >
vpTemplateTracker::gain
double gain
Definition: vpTemplateTracker.h:106
vpTemplateTrackerWarp::getdWdp0
virtual void getdWdp0(const int &i, const int &j, double *dIdW)=0
vpTemplateTrackerPoint::x
int x
Definition: vpTemplateTrackerHeader.h:72
vpException
error that can be emited by ViSP classes.
Definition: vpException.h:70
vpTemplateTracker::Warp
vpTemplateTrackerWarp * Warp
Definition: vpTemplateTracker.h:129
vpImage::getWidth
unsigned int getWidth() const
Definition: vpImage.h:243
vpImageFilter::getGradXGauss2D
static void getGradXGauss2D(const vpImage< unsigned char > &I, vpImage< double > &dIx, const double *gaussianKernel, const double *gaussianDerivativeKernel, unsigned int size)
Definition: vpImageFilter.cpp:749
vpTemplateTracker::evolRMS_eps
double evolRMS_eps
Definition: vpTemplateTracker.h:72