Visual Servoing Platform version 3.5.0
vpTemplateTrackerSSDForwardCompositional.cpp
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3 * ViSP, open source Visual Servoing Platform software.
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10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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17 * See http://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
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26 * Inria at visp@inria.fr
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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 * 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 double *tempt = new double[nbParam];
92
93 do {
94 unsigned int Nbpoint = 0;
95 double erreur = 0;
96 G = 0;
97 H = 0;
98 Warp->computeCoeff(p);
99 for (unsigned int point = 0; point < templateSize; point++) {
100 i = ptTemplate[point].y;
101 j = ptTemplate[point].x;
102 X1[0] = j;
103 X1[1] = i;
104
105 Warp->computeDenom(X1, p);
106 Warp->warpX(X1, X2, p);
107
108 j2 = X2[0];
109 i2 = X2[1];
110 if ((i2 >= 0) && (j2 >= 0) && (i2 < I.getHeight() - 1) && (j2 < I.getWidth() - 1)) {
111 Tij = ptTemplate[point].val;
112 if (!blur)
113 IW = I.getValue(i2, j2);
114 else
115 IW = BI.getValue(i2, j2);
116 dIWx = dIx.getValue(i2, j2);
117 dIWy = dIy.getValue(i2, j2);
118 Nbpoint++;
119
120 Warp->dWarpCompo(X1, X2, p, ptTemplate[point].dW, dW);
121
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 }
135 }
136 if (Nbpoint == 0) {
137 delete[] tempt;
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 delete[] tempt;
147 throw(e);
148 }
149
150 dp = gain * dp;
151 if (useBrent) {
152 alpha = 2.;
153 computeOptimalBrentGain(I, p, erreur / Nbpoint, dp, alpha);
154 dp = alpha * dp;
155 }
156 Warp->pRondp(p, dp, p);
157
159
160 if (iteration == 0) {
161 evolRMS_init = evolRMS;
162 }
163 iteration++;
164
165 evolRMS_delta = std::fabs(evolRMS - evolRMS_prec);
166 evolRMS_prec = evolRMS;
167
168 } while ( (iteration < iterationMax) && (evolRMS_delta > std::fabs(evolRMS_init)*evolRMS_eps) );
169 delete[] tempt;
170
171 nbIteration = iteration;
172}
error that can be emited by ViSP classes.
Definition: vpException.h:72
static void filter(const vpImage< double > &I, vpImage< double > &Iu, vpImage< double > &Iv, const vpMatrix &M, bool convolve=false)
static void getGradXGauss2D(const vpImage< unsigned char > &I, vpImage< double > &dIx, const double *gaussianKernel, const double *gaussianDerivativeKernel, unsigned int size)
static void getGradYGauss2D(const vpImage< unsigned char > &I, vpImage< double > &dIy, const double *gaussianKernel, const double *gaussianDerivativeKernel, unsigned int size)
unsigned int getWidth() const
Definition: vpImage.h:246
Type getValue(unsigned int i, unsigned int j) const
Definition: vpImage.h:1346
unsigned int getHeight() const
Definition: vpImage.h:188
vpMatrix inverseByLU() const
static void computeHLM(const vpMatrix &H, const double &alpha, vpMatrix &HLM)
Definition: vpMatrix.cpp:6683
virtual void dWarpCompo(const vpColVector &X1, const vpColVector &X2, const vpColVector &p, const double *dwdp0, vpMatrix &dM)=0
virtual void getdWdp0(const int &v, const int &u, double *dIdW)=0
virtual void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)=0
virtual void pRondp(const vpColVector &p1, const vpColVector &p2, vpColVector &p12) const =0
vpImage< double > dIx
vpImage< double > dIy
void computeEvalRMS(const vpColVector &p)
void computeOptimalBrentGain(const vpImage< unsigned char > &I, vpColVector &tp, double tMI, vpColVector &direction, double &alpha)
unsigned int iterationMax
void initPosEvalRMS(const vpColVector &p)
unsigned int nbIteration
vpTemplateTrackerPoint * ptTemplate
vpTemplateTrackerWarp * Warp
vpImage< double > BI
unsigned int templateSize
Error that can be emited by the vpTracker class and its derivates.