Visual Servoing Platform version 3.5.0
vpTemplateTrackerSSDInverseCompositional.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/vpImageTools.h>
41#include <visp3/tt/vpTemplateTrackerSSDInverseCompositional.h>
42
44 : vpTemplateTrackerSSD(warp), compoInitialised(false), HInv(), HCompInverse(), useTemplateSelect(false)
45{
46 useInverse = true;
49}
50
52{
53 H = 0;
54
55 for (unsigned int point = 0; point < templateSize; point++) {
56 if ((!useTemplateSelect) || (ptTemplateSelect[point])) {
57 int i = ptTemplate[point].y;
58 int j = ptTemplate[point].x;
59 ptTemplate[point].dW = new double[nbParam];
60
61 Warp->getdW0(i, j, ptTemplate[point].dy, ptTemplate[point].dx, ptTemplate[point].dW);
62
63 for (unsigned int it = 0; it < nbParam; it++)
64 for (unsigned int jt = 0; jt < nbParam; jt++)
65 H[it][jt] += ptTemplate[point].dW[it] * ptTemplate[point].dW[jt];
66 }
67 }
68
69 vpMatrix HLMtemp;
71
72 HCompInverse = HLMtemp.inverseByLU();
73
74 for (unsigned int point = 0; point < templateSize; point++) {
75 if ((!useTemplateSelect) || (ptTemplateSelect[point])) {
76 ptTemplate[point].HiG = new double[nbParam];
77
78 for (unsigned int i = 0; i < HCompInverse.getRows(); i ++) {
79 ptTemplate[point].HiG[i] = 0;
80 for (unsigned int j = 0; j < HCompInverse.getCols(); j ++) {
81 ptTemplate[point].HiG[i] -= HCompInverse[i][j] * ptTemplate[point].dW[j];
82 }
83 }
84 }
85 }
86 compoInitialised = true;
87}
88
90{
92}
93
95{
96 if (blur)
98
99 vpColVector dpinv(nbParam);
100 double IW;
101 double Tij;
102 unsigned int iteration = 0;
103 int i, j;
104 double i2, j2;
105 double alpha = 2.;
107
109
110 double evolRMS_init = 0;
111 double evolRMS_prec = 0;
112 double evolRMS_delta;
113
114 do {
115 unsigned int Nbpoint = 0;
116 double erreur = 0;
117 dp = 0;
118 Warp->computeCoeff(p);
119 for (unsigned int point = 0; point < templateSize; point++) {
120 if ((!useTemplateSelect) || (ptTemplateSelect[point])) {
121 pt = &ptTemplate[point];
122 i = pt->y;
123 j = pt->x;
124 X1[0] = j;
125 X1[1] = i;
126 Warp->computeDenom(X1, p);
127 Warp->warpX(X1, X2, p);
128 j2 = X2[0];
129 i2 = X2[1];
130
131 if ((i2 >= 0) && (j2 >= 0) && (i2 < I.getHeight() - 1) && (j2 < I.getWidth() - 1)) {
132 Tij = pt->val;
133 if (!blur)
134 IW = I.getValue(i2, j2);
135 else
136 IW = BI.getValue(i2, j2);
137 Nbpoint++;
138 double er = (Tij - IW);
139 for (unsigned int it = 0; it < nbParam; it++)
140 dp[it] += er * pt->HiG[it];
141
142 erreur += er * er;
143 }
144 }
145 }
146 if (Nbpoint == 0) {
147 throw(vpTrackingException(vpTrackingException::notEnoughPointError, "No points in the template"));
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->getParamInverse(dp, dpinv);
156 Warp->pRondp(p, dpinv, 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 nbIteration = iteration;
170}
unsigned int getCols() const
Definition: vpArray2D.h:279
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
Definition: vpArray2D.h:304
unsigned int getRows() const
Definition: vpArray2D.h:289
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
static void filter(const vpImage< double > &I, vpImage< double > &Iu, vpImage< double > &Iv, const vpMatrix &M, bool convolve=false)
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
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
vpMatrix inverseByLU() const
static void computeHLM(const vpMatrix &H, const double &alpha, vpMatrix &HLM)
Definition: vpMatrix.cpp:6683
virtual void getParamInverse(const vpColVector &p, vpColVector &p_inv) const =0
virtual void getdW0(const int &v, const int &u, const double &dv, const double &du, 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
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.