Visual Servoing Platform  version 3.3.0
vpTemplateTrackerSSDESM.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/vpTemplateTrackerSSDESM.h>
42 
44  : vpTemplateTrackerSSD(warp), compoInitialised(false), HDir(), HInv(), HLMDir(), HLMInv(), GDir(), GInv()
45 {
46  useCompositionnal = false;
47  useInverse = false;
48 
49  if (!Warp->isESMcompatible()) {
51  "The selected warp function is not appropriate for the ESM algorithm..."));
52  }
53 
60 }
61 
63 
65 {
67  int i, j;
68  // direct
69  for (unsigned int point = 0; point < templateSize; point++) {
70  i = ptTemplate[point].y;
71  j = ptTemplate[point].x;
72  ptTemplateCompo[point].dW = new double[2 * nbParam];
73  Warp->getdWdp0(i, j, ptTemplateCompo[point].dW);
74  }
75 
76  // inverse
77  HInv = 0;
78  for (unsigned int point = 0; point < templateSize; point++) {
79  i = ptTemplate[point].y;
80  j = ptTemplate[point].x;
81 
82  ptTemplate[point].dW = new double[nbParam];
83  Warp->getdW0(i, j, ptTemplate[point].dy, ptTemplate[point].dx, ptTemplate[point].dW);
84 
85  for (unsigned int it = 0; it < nbParam; it++)
86  for (unsigned int jt = 0; jt < nbParam; jt++)
87  HInv[it][jt] += ptTemplate[point].dW[it] * ptTemplate[point].dW[jt];
88  }
90 
91  compoInitialised = true;
92 }
93 
95 {
96  if (blur)
100 
101  double IW, dIWx, dIWy;
102  double Tij;
103  unsigned int iteration = 0;
104  int i, j;
105  double i2, j2;
106  double alpha = 2.;
107 
108  initPosEvalRMS(p);
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  HDir = 0;
119  GDir = 0;
120  GInv = 0;
121  Warp->computeCoeff(p);
122  for (unsigned int point = 0; point < templateSize; point++) {
123  i = ptTemplate[point].y;
124  j = ptTemplate[point].x;
125  X1[0] = j;
126  X1[1] = i;
127 
128  Warp->computeDenom(X1, p);
129  Warp->warpX(X1, X2, p);
130 
131  j2 = X2[0];
132  i2 = X2[1];
133  if ((i2 >= 0) && (j2 >= 0) && (i2 < I.getHeight() - 1) && (j2 < I.getWidth() - 1)) {
134  // INVERSE
135  Tij = ptTemplate[point].val;
136  if (!blur)
137  IW = I.getValue(i2, j2);
138  else
139  IW = BI.getValue(i2, j2);
140  Nbpoint++;
141  double er = (Tij - IW);
142  for (unsigned int it = 0; it < nbParam; it++)
143  GInv[it] += er * ptTemplate[point].dW[it];
144 
145  erreur += er * er;
146 
147  dIWx = dIx.getValue(i2, j2) + ptTemplate[point].dx;
148  dIWy = dIy.getValue(i2, j2) + ptTemplate[point].dy;
149 
150  // Calcul du Hessien
151  Warp->dWarpCompo(X1, X2, p, ptTemplateCompo[point].dW, dW);
152 
153  double *tempt = new double[nbParam];
154  for (unsigned int it = 0; it < nbParam; it++)
155  tempt[it] = dW[0][it] * dIWx + dW[1][it] * dIWy;
156 
157  for (unsigned int it = 0; it < nbParam; it++)
158  for (unsigned int jt = 0; jt < nbParam; jt++)
159  HDir[it][jt] += tempt[it] * tempt[jt];
160 
161  for (unsigned int it = 0; it < nbParam; it++)
162  GDir[it] += er * tempt[it];
163  delete[] tempt;
164  }
165  }
166  if (Nbpoint == 0) {
167  throw(vpTrackingException(vpTrackingException::notEnoughPointError, "No points in the template"));
168  }
169 
171 
172  try {
173  dp = (HLMDir).inverseByLU() * (GDir);
174  } catch (const vpException &e) {
175  throw(e);
176  }
177 
178  dp = gain * dp;
179  if (useBrent) {
180  alpha = 2.;
181  computeOptimalBrentGain(I, p, erreur / Nbpoint, dp, alpha);
182  dp = alpha * dp;
183  }
184 
185  p += dp;
186 
187  computeEvalRMS(p);
188 
189  if (iteration == 0) {
190  evolRMS_init = evolRMS;
191  }
192 
193  iteration++;
194 
195  evolRMS_delta = std::fabs(evolRMS - evolRMS_prec);
196  evolRMS_prec = evolRMS;
197 
198  } while ( (iteration < iterationMax) && (evolRMS_delta > std::fabs(evolRMS_init)*evolRMS_eps) );
199 
200  nbIteration = iteration;
201 }
vpTrackingException
Error that can be emited by the vpTracker class and its derivates.
Definition: vpTrackingException.h:68
vpTemplateTrackerSSDESM::HLMDir
vpMatrix HLMDir
Definition: vpTemplateTrackerSSDESM.h:59
vpException::badValue
Used to indicate that a value is not in the allowed range.
Definition: vpException.h:96
vpTemplateTracker::useInverse
bool useInverse
Definition: vpTemplateTracker.h:127
vpTemplateTracker::taillef
unsigned int taillef
Definition: vpTemplateTracker.h:112
vpImage::getValue
Type getValue(unsigned int i, unsigned int j) const
Definition: vpImage.h:1457
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::useBrent
bool useBrent
Definition: vpTemplateTracker.h:110
vpTemplateTracker::dp
vpColVector dp
Definition: vpTemplateTracker.h:132
vpTemplateTrackerPoint::dy
double dy
Definition: vpTemplateTrackerHeader.h:73
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
vpTemplateTrackerSSDESM::GDir
vpColVector GDir
Definition: vpTemplateTrackerSSDESM.h:61
vpTemplateTrackerSSDESM::HLMInv
vpMatrix HLMInv
Definition: vpTemplateTrackerSSDESM.h:60
vpTemplateTracker::X2
vpColVector X2
Definition: vpTemplateTracker.h:136
vpTemplateTracker::fgdG
double * fgdG
Definition: vpTemplateTracker.h:114
vpTemplateTracker::useCompositionnal
bool useCompositionnal
Definition: vpTemplateTracker.h:126
vpTemplateTracker::computeOptimalBrentGain
void computeOptimalBrentGain(const vpImage< unsigned char > &I, vpColVector &tp, double tMI, vpColVector &direction, double &alpha)
Definition: vpTemplateTracker.cpp:391
vpTemplateTrackerSSDESM::GInv
vpColVector GInv
Definition: vpTemplateTrackerSSDESM.h:62
vpTemplateTracker::fgG
double * fgG
Definition: vpTemplateTracker.h:113
vpTemplateTrackerSSDESM::vpTemplateTrackerSSDESM
vpTemplateTrackerSSDESM(vpTemplateTrackerWarp *warp)
Definition: vpTemplateTrackerSSDESM.cpp:42
vpTemplateTracker::evolRMS
double evolRMS
Definition: vpTemplateTracker.h:69
vpTemplateTracker::blur
bool blur
Definition: vpTemplateTracker.h:109
vpTrackingException::notEnoughPointError
Definition: vpTrackingException.h:79
vpTemplateTrackerSSDESM::trackNoPyr
void trackNoPyr(const vpImage< unsigned char > &I)
Definition: vpTemplateTrackerSSDESM.cpp:93
vpTemplateTrackerSSDESM::compoInitialised
bool compoInitialised
Definition: vpTemplateTrackerSSDESM.h:56
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
vpTemplateTrackerSSDESM::initHessienDesired
void initHessienDesired(const vpImage< unsigned char > &I)
Definition: vpTemplateTrackerSSDESM.cpp:61
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
vpTemplateTrackerPointCompo::dW
double * dW
Definition: vpTemplateTrackerHeader.h:85
vpTemplateTracker::BI
vpImage< double > BI
Definition: vpTemplateTracker.h:140
vpTemplateTrackerWarp::getdW0
virtual void getdW0(const int &i, const int &j, const double &dy, const double &dx, double *dIdW)=0
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
vpTemplateTracker::iterationMax
unsigned int iterationMax
Definition: vpTemplateTracker.h:120
vpTemplateTrackerWarp::isESMcompatible
virtual bool isESMcompatible() const =0
vpArray2D::resize
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
Definition: vpArray2D.h:304
vpTemplateTracker::nbParam
unsigned int nbParam
Definition: vpTemplateTracker.h:118
vpImage::getHeight
unsigned int getHeight() const
Definition: vpImage.h:221
vpTemplateTracker::dIy
vpImage< double > dIy
Definition: vpTemplateTracker.h:142
vpTemplateTrackerSSDESM::HInv
vpMatrix HInv
Definition: vpTemplateTrackerSSDESM.h:58
vpTemplateTrackerPoint::y
int y
Definition: vpTemplateTrackerHeader.h:72
vpTemplateTracker::dIx
vpImage< double > dIx
Definition: vpTemplateTracker.h:141
vpTemplateTracker::ptTemplateCompo
vpTemplateTrackerPointCompo * ptTemplateCompo
Definition: vpTemplateTracker.h:89
vpTemplateTrackerSSD
Definition: vpTemplateTrackerSSD.h:62
vpTemplateTracker::lambdaDep
double lambdaDep
Definition: vpTemplateTracker.h:119
vpColVector::resize
void resize(unsigned int i, bool flagNullify=true)
Definition: vpColVector.h:309
vpTemplateTrackerPointCompo
Definition: vpTemplateTrackerHeader.h:84
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 >
vpTemplateTrackerSSDESM::initCompInverse
void initCompInverse(const vpImage< unsigned char > &I)
Definition: vpTemplateTrackerSSDESM.cpp:63
vpTemplateTracker::gain
double gain
Definition: vpTemplateTracker.h:106
vpTemplateTrackerSSDESM::HDir
vpMatrix HDir
Definition: vpTemplateTrackerSSDESM.h:57
vpTemplateTrackerWarp::getdWdp0
virtual void getdWdp0(const int &i, const int &j, double *dIdW)=0
vpTemplateTrackerPoint::x
int x
Definition: vpTemplateTrackerHeader.h:72
vpTemplateTrackerPoint::dx
double dx
Definition: vpTemplateTrackerHeader.h:73
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:279
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