Visual Servoing Platform version 3.6.0
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vpTemplateTrackerSSDInverseCompositional.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/vpImageTools.h>
40#include <visp3/tt/vpTemplateTrackerSSDInverseCompositional.h>
41
43 : vpTemplateTrackerSSD(warp), compoInitialised(false), HInv(), HCompInverse(), useTemplateSelect(false)
44{
45 useInverse = true;
48}
49
51{
52 H = 0;
53
54 for (unsigned int point = 0; point < templateSize; point++) {
55 if ((!useTemplateSelect) || (ptTemplateSelect[point])) {
56 int i = ptTemplate[point].y;
57 int j = ptTemplate[point].x;
58 ptTemplate[point].dW = new double[nbParam];
59
60 Warp->getdW0(i, j, ptTemplate[point].dy, ptTemplate[point].dx, ptTemplate[point].dW);
61
62 for (unsigned int it = 0; it < nbParam; it++)
63 for (unsigned int jt = 0; jt < nbParam; jt++)
64 H[it][jt] += ptTemplate[point].dW[it] * ptTemplate[point].dW[jt];
65 }
66 }
67
68 vpMatrix HLMtemp;
70
71 HCompInverse = HLMtemp.inverseByLU();
72
73 for (unsigned int point = 0; point < templateSize; point++) {
74 if ((!useTemplateSelect) || (ptTemplateSelect[point])) {
75 ptTemplate[point].HiG = new double[nbParam];
76
77 for (unsigned int i = 0; i < HCompInverse.getRows(); i++) {
78 ptTemplate[point].HiG[i] = 0;
79 for (unsigned int j = 0; j < HCompInverse.getCols(); j++) {
80 ptTemplate[point].HiG[i] -= HCompInverse[i][j] * ptTemplate[point].dW[j];
81 }
82 }
83 }
84 }
85 compoInitialised = true;
86}
87
92
94{
95 if (blur)
97
98 vpColVector dpinv(nbParam);
99 double IW;
100 double Tij;
101 unsigned int iteration = 0;
102 int i, j;
103 double i2, j2;
104 double alpha = 2.;
106
108
109 double evolRMS_init = 0;
110 double evolRMS_prec = 0;
111 double evolRMS_delta;
112
113 do {
114 unsigned int Nbpoint = 0;
115 double erreur = 0;
116 dp = 0;
117 Warp->computeCoeff(p);
118 for (unsigned int point = 0; point < templateSize; point++) {
119 if ((!useTemplateSelect) || (ptTemplateSelect[point])) {
120 pt = &ptTemplate[point];
121 i = pt->y;
122 j = pt->x;
123 X1[0] = j;
124 X1[1] = i;
125 Warp->computeDenom(X1, p);
126 Warp->warpX(X1, X2, p);
127 j2 = X2[0];
128 i2 = X2[1];
129
130 if ((i2 >= 0) && (j2 >= 0) && (i2 < I.getHeight() - 1) && (j2 < I.getWidth() - 1)) {
131 Tij = pt->val;
132 if (!blur)
133 IW = I.getValue(i2, j2);
134 else
135 IW = BI.getValue(i2, j2);
136 Nbpoint++;
137 double er = (Tij - IW);
138 for (unsigned int it = 0; it < nbParam; it++)
139 dp[it] += er * pt->HiG[it];
140
141 erreur += er * er;
142 }
143 }
144 }
145 if (Nbpoint == 0) {
146 throw(vpTrackingException(vpTrackingException::notEnoughPointError, "No points in the template"));
147 }
148 dp = gain * dp;
149 if (useBrent) {
150 alpha = 2.;
151 computeOptimalBrentGain(I, p, erreur / Nbpoint, dp, alpha);
152 dp = alpha * dp;
153 }
154 Warp->getParamInverse(dp, dpinv);
155 Warp->pRondp(p, dpinv, 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 nbIteration = iteration;
169}
unsigned int getCols() const
Definition vpArray2D.h:280
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
Definition vpArray2D.h:305
unsigned int getRows() const
Definition vpArray2D.h:290
Implementation of column vector and the associated operations.
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
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
vpMatrix inverseByLU() const
static void computeHLM(const vpMatrix &H, const double &alpha, vpMatrix &HLM)
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)
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.