Visual Servoing Platform version 3.6.0
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vpTemplateTrackerSSDESM.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/vpTemplateTrackerSSDESM.h>
41
43 : vpTemplateTrackerSSD(warp), compoInitialised(false), HDir(), HInv(), HLMDir(), HLMInv(), GDir(), GInv()
44{
45 useCompositionnal = false;
46 useInverse = false;
47
48 if (!Warp->isESMcompatible()) {
49 throw(vpException(vpException::badValue, "The selected warp function is not appropriate for the ESM algorithm..."));
50 }
51
58}
59
61
63{
65 int i, j;
66 // direct
67 for (unsigned int point = 0; point < templateSize; point++) {
68 i = ptTemplate[point].y;
69 j = ptTemplate[point].x;
70 ptTemplateCompo[point].dW = new double[2 * nbParam];
71 Warp->getdWdp0(i, j, ptTemplateCompo[point].dW);
72 }
73
74 // inverse
75 HInv = 0;
76 for (unsigned int point = 0; point < templateSize; point++) {
77 i = ptTemplate[point].y;
78 j = ptTemplate[point].x;
79
80 ptTemplate[point].dW = new double[nbParam];
81 Warp->getdW0(i, j, ptTemplate[point].dy, ptTemplate[point].dx, ptTemplate[point].dW);
82
83 for (unsigned int it = 0; it < nbParam; it++)
84 for (unsigned int jt = 0; jt < nbParam; jt++)
85 HInv[it][jt] += ptTemplate[point].dW[it] * ptTemplate[point].dW[jt];
86 }
88
89 compoInitialised = true;
90}
91
93{
94 if (blur)
98
99 double IW, dIWx, dIWy;
100 double Tij;
101 unsigned int iteration = 0;
102 int i, j;
103 double i2, j2;
104 double alpha = 2.;
105
107
108 double evolRMS_init = 0;
109 double evolRMS_prec = 0;
110 double evolRMS_delta;
111 double *tempt = new double[nbParam];
112
113 do {
114 unsigned int Nbpoint = 0;
115 double erreur = 0;
116 dp = 0;
117 HDir = 0;
118 GDir = 0;
119 GInv = 0;
120 Warp->computeCoeff(p);
121 for (unsigned int point = 0; point < templateSize; point++) {
122 i = ptTemplate[point].y;
123 j = ptTemplate[point].x;
124 X1[0] = j;
125 X1[1] = i;
126
127 Warp->computeDenom(X1, p);
128 Warp->warpX(X1, X2, p);
129
130 j2 = X2[0];
131 i2 = X2[1];
132 if ((i2 >= 0) && (j2 >= 0) && (i2 < I.getHeight() - 1) && (j2 < I.getWidth() - 1)) {
133 // INVERSE
134 Tij = ptTemplate[point].val;
135 if (!blur)
136 IW = I.getValue(i2, j2);
137 else
138 IW = BI.getValue(i2, j2);
139 Nbpoint++;
140 double er = (Tij - IW);
141 for (unsigned int it = 0; it < nbParam; it++)
142 GInv[it] += er * ptTemplate[point].dW[it];
143
144 erreur += er * er;
145
146 dIWx = dIx.getValue(i2, j2) + ptTemplate[point].dx;
147 dIWy = dIy.getValue(i2, j2) + ptTemplate[point].dy;
148
149 // Calcul du Hessien
150 Warp->dWarpCompo(X1, X2, p, ptTemplateCompo[point].dW, dW);
151
152 for (unsigned int it = 0; it < nbParam; it++)
153 tempt[it] = dW[0][it] * dIWx + dW[1][it] * dIWy;
154
155 for (unsigned int it = 0; it < nbParam; it++)
156 for (unsigned int jt = 0; jt < nbParam; jt++)
157 HDir[it][jt] += tempt[it] * tempt[jt];
158
159 for (unsigned int it = 0; it < nbParam; it++)
160 GDir[it] += er * tempt[it];
161 }
162 }
163 if (Nbpoint == 0) {
164 delete[] tempt;
165 throw(vpTrackingException(vpTrackingException::notEnoughPointError, "No points in the template"));
166 }
167
169
170 try {
171 dp = (HLMDir).inverseByLU() * (GDir);
172 } catch (const vpException &e) {
173 delete[] tempt;
174 throw(e);
175 }
176
177 dp = gain * dp;
178 if (useBrent) {
179 alpha = 2.;
180 computeOptimalBrentGain(I, p, erreur / Nbpoint, dp, alpha);
181 dp = alpha * dp;
182 }
183
184 p += dp;
185
187
188 if (iteration == 0) {
189 evolRMS_init = evolRMS;
190 }
191
192 iteration++;
193
194 evolRMS_delta = std::fabs(evolRMS - evolRMS_prec);
195 evolRMS_prec = evolRMS;
196
197 } while ((iteration < iterationMax) && (evolRMS_delta > std::fabs(evolRMS_init) * evolRMS_eps));
198 delete[] tempt;
199
200 nbIteration = iteration;
201}
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
Definition vpArray2D.h:305
void resize(unsigned int i, bool flagNullify=true)
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
static void computeHLM(const vpMatrix &H, const double &alpha, vpMatrix &HLM)
void trackNoPyr(const vpImage< unsigned char > &I)
void initHessienDesired(const vpImage< unsigned char > &I)
void initCompInverse(const vpImage< unsigned char > &I)
vpTemplateTrackerSSDESM(vpTemplateTrackerWarp *warp)
virtual void dWarpCompo(const vpColVector &X1, const vpColVector &X2, const vpColVector &p, const double *dwdp0, vpMatrix &dM)=0
virtual bool isESMcompatible() const =0
virtual void getdW0(const int &v, const int &u, const double &dv, const double &du, double *dIdW)=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
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
vpTemplateTrackerPointCompo * ptTemplateCompo
Error that can be emitted by the vpTracker class and its derivatives.
@ notEnoughPointError
Not enough point to track.