Visual Servoing Platform version 3.6.0
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vpTemplateTrackerSSDForwardCompositional.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://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
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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 *
38*****************************************************************************/
39#include <visp3/core/vpImageFilter.h>
40#include <visp3/tt/vpTemplateTrackerSSDForwardCompositional.h>
41
46
48{
49 for (unsigned int point = 0; point < templateSize; point++) {
50 int i = ptTemplate[point].y;
51 int j = ptTemplate[point].x;
52 ptTemplate[point].dW = new double[2 * nbParam];
53 X1[0] = j;
54 X1[1] = i;
55 Warp->computeDenom(X1, p);
56 Warp->getdWdp0(i, j, ptTemplate[point].dW);
57 }
58 compoInitialised = true;
59}
60
62
64{
65 if (!compoInitialised) {
66 std::cout << "Compositionnal tracking not initialised.\nUse initCompo() function." << std::endl;
67 }
68
69 if (blur) {
71 }
74
75 dW = 0;
76
77 double lambda = lambdaDep;
78 double IW, dIWx, dIWy;
79 double Tij;
80 unsigned int iteration = 0;
81 int i, j;
82 double i2, j2;
83 double alpha = 2.;
84
86
87 double evolRMS_init = 0;
88 double evolRMS_prec = 0;
89 double evolRMS_delta;
90 double *tempt = new double[nbParam];
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 for (unsigned int it = 0; it < nbParam; it++)
122 tempt[it] = dW[0][it] * dIWx + dW[1][it] * dIWy;
123
124 for (unsigned int it = 0; it < nbParam; it++)
125 for (unsigned int jt = 0; jt < nbParam; jt++)
126 H[it][jt] += tempt[it] * tempt[jt];
127
128 double er = (Tij - IW);
129 for (unsigned int it = 0; it < nbParam; it++)
130 G[it] += er * tempt[it];
131
132 erreur += (er * er);
133 }
134 }
135 if (Nbpoint == 0) {
136 delete[] tempt;
137 throw(vpTrackingException(vpTrackingException::notEnoughPointError, "No points in the template"));
138 }
139
140 vpMatrix::computeHLM(H, lambda, HLM);
141
142 try {
143 dp = HLM.inverseByLU() * G;
144 } catch (const vpException &e) {
145 delete[] tempt;
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
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 delete[] tempt;
169
170 nbIteration = iteration;
171}
error that can be emitted by ViSP classes.
Definition vpException.h:59
static void getGradYGauss2D(const vpImage< ImageType > &I, vpImage< FilterType > &dIy, const FilterType *gaussianKernel, const FilterType *gaussianDerivativeKernel, unsigned int size)
static void getGradXGauss2D(const vpImage< ImageType > &I, vpImage< FilterType > &dIx, const FilterType *gaussianKernel, const FilterType *gaussianDerivativeKernel, unsigned int size)
static void filter(const vpImage< unsigned char > &I, vpImage< FilterType > &If, const vpArray2D< FilterType > &M, bool convolve=false)
Definition of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getWidth() const
Definition vpImage.h:242
Type getValue(unsigned int i, unsigned int j) const
Definition vpImage.h:1592
unsigned int getHeight() const
Definition vpImage.h:184
vpMatrix inverseByLU() const
static void computeHLM(const vpMatrix &H, const double &alpha, vpMatrix &HLM)
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)
vpTemplateTrackerPoint * ptTemplate
vpTemplateTrackerWarp * Warp
vpImage< double > BI
unsigned int templateSize
Error that can be emitted by the vpTracker class and its derivatives.
@ notEnoughPointError
Not enough point to track.