Visual Servoing Platform  version 3.2.0 under development (2018-10-19)
vpTemplateTracker Class Referenceabstract

#include <visp3/tt/vpTemplateTracker.h>

+ Inheritance diagram for vpTemplateTracker:

Public Member Functions

 vpTemplateTracker ()
 
 vpTemplateTracker (vpTemplateTrackerWarp *_warp)
 
virtual ~vpTemplateTracker ()
 
void display (const vpImage< unsigned char > &I, const vpColor &col=vpColor::green, const unsigned int thickness=3)
 
void display (const vpImage< vpRGBa > &I, const vpColor &col=vpColor::green, const unsigned int thickness=3)
 
bool getDiverge () const
 
vpColVector getdp ()
 
vpColVector getG () const
 
vpMatrix getH () const
 
unsigned int getNbParam () const
 
unsigned int getNbIteration () const
 
vpColVector getp () const
 
double getRatioPixelIn () const
 
vpTemplateTrackerWarpgetWarp () const
 
vpTemplateTrackerZone getZoneRef () const
 
void initClick (const vpImage< unsigned char > &I, bool delaunay=false)
 
void initFromPoints (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &v_ip, bool delaunay=false)
 
void initFromZone (const vpImage< unsigned char > &I, const vpTemplateTrackerZone &zone)
 
void resetTracker ()
 
void setBlur (bool b)
 
void setCostFunctionVerification (bool b)
 
void setGain (double g)
 
void setGaussianFilterSize (unsigned int new_taill)
 
void setHDes (vpMatrix &tH)
 
void setIterationMax (const unsigned int &n)
 
void setLambda (double l)
 
void setNbIterBrent (const unsigned int &b)
 
void setp (const vpColVector &tp)
 
void setPyramidal (unsigned int nlevels=2, unsigned int level_to_stop=1)
 
void setSampling (int sample_i, int sample_j)
 
void setThresholdGradient (double threshold)
 
void setUseBrent (bool b)
 
void track (const vpImage< unsigned char > &I)
 
void trackRobust (const vpImage< unsigned char > &I)
 

Protected Member Functions

void computeOptimalBrentGain (const vpImage< unsigned char > &I, vpColVector &tp, double tMI, vpColVector &direction, double &alpha)
 
virtual double getCost (const vpImage< unsigned char > &I, const vpColVector &tp)=0
 
void getGaussianBluredImage (const vpImage< unsigned char > &I)
 
virtual void initHessienDesired (const vpImage< unsigned char > &I)=0
 
virtual void initHessienDesiredPyr (const vpImage< unsigned char > &I)
 
virtual void initPyramidal (unsigned int nbLvl, unsigned int l0)
 
void initTracking (const vpImage< unsigned char > &I, vpTemplateTrackerZone &zone)
 
virtual void initTrackingPyr (const vpImage< unsigned char > &I, vpTemplateTrackerZone &zone)
 
virtual void trackNoPyr (const vpImage< unsigned char > &I)=0
 
virtual void trackPyr (const vpImage< unsigned char > &I)
 

Protected Attributes

unsigned int nbLvlPyr
 
unsigned int l0Pyr
 
bool pyrInitialised
 
vpTemplateTrackerPointptTemplate
 
vpTemplateTrackerPoint ** ptTemplatePyr
 
bool ptTemplateInit
 
unsigned int templateSize
 
unsigned int * templateSizePyr
 
bool * ptTemplateSelect
 
bool ** ptTemplateSelectPyr
 
bool ptTemplateSelectInit
 
unsigned int templateSelectSize
 
vpTemplateTrackerPointCompoptTemplateCompo
 
vpTemplateTrackerPointCompo ** ptTemplateCompoPyr
 
vpTemplateTrackerZonezoneTracked
 
vpTemplateTrackerZonezoneTrackedPyr
 
vpImage< unsigned char > * pyr_IDes
 
vpMatrix H
 
vpMatrix Hdesire
 
vpMatrixHdesirePyr
 
vpMatrix HLM
 
vpMatrix HLMdesire
 
vpMatrixHLMdesirePyr
 
vpMatrix HLMdesireInverse
 
vpMatrixHLMdesireInversePyr
 
vpColVector G
 
double gain
 
double thresholdGradient
 
bool costFunctionVerification
 
bool blur
 
bool useBrent
 
unsigned int nbIterBrent
 
unsigned int taillef
 
double * fgG
 
double * fgdG
 
double ratioPixelIn
 
int mod_i
 
int mod_j
 
unsigned int nbParam
 
double lambdaDep
 
unsigned int iterationMax
 
unsigned int iterationGlobale
 
bool diverge
 
unsigned int nbIteration
 
bool useCompositionnal
 
bool useInverse
 
vpTemplateTrackerWarpWarp
 
vpColVector p
 
vpColVector dp
 
vpColVector X1
 
vpColVector X2
 
vpMatrix dW
 
vpImage< double > BI
 
vpImage< double > dIx
 
vpImage< double > dIy
 
vpTemplateTrackerZone zoneRef_
 

Detailed Description

This class allows to instanciate a template tracker using image registration algorithms [9] [10].

Examples:
templateTracker.cpp.

Definition at line 62 of file vpTemplateTracker.h.

Constructor & Destructor Documentation

vpTemplateTracker::vpTemplateTracker ( )
inline

Default constructor.

Definition at line 175 of file vpTemplateTracker.h.

References vpColor::green.

vpTemplateTracker::~vpTemplateTracker ( )
virtual

Definition at line 166 of file vpTemplateTracker.cpp.

References fgdG, fgG, and resetTracker().

Member Function Documentation

void vpTemplateTracker::display ( const vpImage< unsigned char > &  I,
const vpColor col = vpColor::green,
const unsigned int  thickness = 3 
)

Display the warped reference template in an image.

Parameters
IImage in which the warped zone has to be displayed.
colColor used to draw the triangle edges.
thicknessThickness of the lines.

The following code shows how to use display capabilities:

#include <visp3/tt/vpTemplateTrackerSSDInverseCompositional.h>
#include <visp3/tt/vpTemplateTrackerWarpHomography.h>
int main()
{
vpTemplateTrackerZone zoneRef, zoneWarped;
// Display the warped zone
tracker.display(I, vpColor::red);
// Display the reference zone
zoneRef = tracker.getZoneRef();
zoneRef.display(I, vpColor::green);
// Display the warped zone
vpColVector p = tracker.getp();
warp.warpZone(zoneRef, p, zoneWarped);
zoneWarped.display(I, vpColor::blue);
}
Examples:
templateTracker.cpp, and tutorial-template-tracker.cpp.

Definition at line 340 of file vpTemplateTracker.cpp.

References vpTemplateTrackerZone::display(), vpImage< Type >::display, p, Warp, vpTemplateTrackerWarp::warpZone(), and zoneTracked.

void vpTemplateTracker::display ( const vpImage< vpRGBa > &  I,
const vpColor col = vpColor::green,
const unsigned int  thickness = 3 
)

Display the warped reference template in an image.

Parameters
IImage in which the warped zone has to be displayed.
colColor used to draw the triangle edges.
thicknessThickness of the lines.

The following code shows how to use display capabilities:

#include <visp3/tt/vpTemplateTrackerSSDInverseCompositional.h>
#include <visp3/tt/vpTemplateTrackerWarpHomography.h>
int main()
{
vpTemplateTrackerZone zoneRef, zoneWarped;
// Display the warped zone
tracker.display(I, vpColor::red);
// Display the reference zone
zoneRef = tracker.getZoneRef();
zoneRef.display(I, vpColor::green);
// Display the warped zone
vpColVector p = tracker.getp();
warp.warpZone(zoneRef, p, zoneWarped);
zoneWarped.display(I, vpColor::blue);
}

Definition at line 382 of file vpTemplateTracker.cpp.

References vpTemplateTrackerZone::display(), vpImage< Type >::display, p, Warp, vpTemplateTrackerWarp::warpZone(), and zoneTracked.

virtual double vpTemplateTracker::getCost ( const vpImage< unsigned char > &  I,
const vpColVector tp 
)
protectedpure virtual
bool vpTemplateTracker::getDiverge ( ) const
inline

Definition at line 194 of file vpTemplateTracker.h.

vpColVector vpTemplateTracker::getdp ( )
inline

Definition at line 195 of file vpTemplateTracker.h.

vpColVector vpTemplateTracker::getG ( ) const
inline

Definition at line 196 of file vpTemplateTracker.h.

void vpTemplateTracker::getGaussianBluredImage ( const vpImage< unsigned char > &  I)
inlineprotected

Definition at line 291 of file vpTemplateTracker.h.

References vpImageFilter::filter().

Referenced by trackRobust().

vpMatrix vpTemplateTracker::getH ( ) const
inline

Definition at line 197 of file vpTemplateTracker.h.

unsigned int vpTemplateTracker::getNbIteration ( ) const
inline

Definition at line 199 of file vpTemplateTracker.h.

unsigned int vpTemplateTracker::getNbParam ( ) const
inline

Definition at line 198 of file vpTemplateTracker.h.

vpColVector vpTemplateTracker::getp ( ) const
inline
Examples:
templateTracker.cpp, and tutorial-template-tracker.cpp.

Definition at line 200 of file vpTemplateTracker.h.

double vpTemplateTracker::getRatioPixelIn ( ) const
inline

Definition at line 201 of file vpTemplateTracker.h.

vpTemplateTrackerWarp* vpTemplateTracker::getWarp ( ) const
inline
Returns
The pointer to the warper.
Examples:
templateTracker.cpp.

Definition at line 207 of file vpTemplateTracker.h.

vpTemplateTrackerZone vpTemplateTracker::getZoneRef ( ) const
inline

Return the reference template zone.

Examples:
templateTracker.cpp.

Definition at line 212 of file vpTemplateTracker.h.

void vpTemplateTracker::initClick ( const vpImage< unsigned char > &  I,
bool  delaunay = false 
)

Select the reference template in image I using mouse click.

Parameters
IImage containing the reference template.
delaunayFlag used to enable Delaunay triangulation.
  • If true, from the image points selected by the user, a Delaunay triangulation is performed to initialize the reference template.
    • A left click select a image point;
    • A right click select the last image point and ends the initialisation stage.
  • If false, the user select directly points as successive triangle corners. The size of v_ip vector should be a multiple of 3. It is not mandatory that triangles have one edge in common; they can define a discontinued area.
    • A left click select a triangle corner;
    • A right click select the last triangle corner and ends the initialisation stage. For example, to select the reference template as two triangles, the user has to left click five times and finish the selection on the sixth corner with a right click.
Examples:
templateTracker.cpp, and tutorial-template-tracker.cpp.

Definition at line 670 of file vpTemplateTracker.cpp.

References vpTemplateTrackerZone::initClick(), initHessienDesired(), initHessienDesiredPyr(), initPyramidal(), initTracking(), initTrackingPyr(), l0Pyr, nbLvlPyr, and zoneRef_.

void vpTemplateTracker::initFromPoints ( const vpImage< unsigned char > &  I,
const std::vector< vpImagePoint > &  v_ip,
bool  delaunay = false 
)

Initialize the reference template from a vector of points.

Parameters
IImage containing the reference template.
v_ipVector of image points defining the reference template.
delaunay
  • If true, from the image points defining the reference template enable Delaunay triangulation.
  • If false, the vector of image points define the reference template as a list of triangles. The size of v_ip vector should be a multiple of 3.
Examples:
templateTracker.cpp.

Definition at line 696 of file vpTemplateTracker.cpp.

References vpTemplateTrackerZone::initFromPoints(), initHessienDesired(), initHessienDesiredPyr(), initPyramidal(), initTracking(), initTrackingPyr(), l0Pyr, nbLvlPyr, and zoneRef_.

void vpTemplateTracker::initFromZone ( const vpImage< unsigned char > &  I,
const vpTemplateTrackerZone zone 
)

Initialize the reference template from a vector of points.

Parameters
IImage containing the reference template.
zoneThe zone that describes the reference template.

Definition at line 718 of file vpTemplateTracker.cpp.

References initHessienDesired(), initHessienDesiredPyr(), initPyramidal(), initTracking(), initTrackingPyr(), l0Pyr, nbLvlPyr, and zoneRef_.

void vpTemplateTracker::initPyramidal ( unsigned int  nbLvl,
unsigned int  l0 
)
protectedvirtual
Parameters
nbLvl: Number of levels in the pyramid.
l0: Pyramid level where the tracking is stopped. The level with the highest resolution is 0.

Definition at line 587 of file vpTemplateTracker.cpp.

References HdesirePyr, HLMdesireInversePyr, HLMdesirePyr, l0Pyr, nbLvlPyr, ptTemplateCompoPyr, ptTemplatePyr, ptTemplateSelectPyr, pyr_IDes, pyrInitialised, templateSizePyr, and zoneTrackedPyr.

Referenced by initClick(), initFromPoints(), and initFromZone().

void vpTemplateTracker::resetTracker ( )
void vpTemplateTracker::setBlur ( bool  b)
inline

Definition at line 220 of file vpTemplateTracker.h.

void vpTemplateTracker::setCostFunctionVerification ( bool  b)
inline

Definition at line 221 of file vpTemplateTracker.h.

void vpTemplateTracker::setGain ( double  g)
inline

Definition at line 222 of file vpTemplateTracker.h.

void vpTemplateTracker::setGaussianFilterSize ( unsigned int  new_taill)
void vpTemplateTracker::setHDes ( vpMatrix tH)
inline

Definition at line 224 of file vpTemplateTracker.h.

References vpMatrix::computeHLM(), and vpMatrix::inverseByLU().

void vpTemplateTracker::setIterationMax ( const unsigned int &  n)
inline

Set the maximum number of iteration of the estimation scheme.

Parameters
n: Maximum number of iterations to stop the estimation scheme. A typical value is arround 100.
Examples:
templateTracker.cpp, and tutorial-template-tracker.cpp.

Definition at line 235 of file vpTemplateTracker.h.

void vpTemplateTracker::setLambda ( double  l)
inline

Set the convergence gain used in the estimation scheme.

Parameters
l: Gain. A typical value is 0.001.
Examples:
templateTracker.cpp, and tutorial-template-tracker.cpp.

Definition at line 240 of file vpTemplateTracker.h.

void vpTemplateTracker::setNbIterBrent ( const unsigned int &  b)
inline

Definition at line 241 of file vpTemplateTracker.h.

void vpTemplateTracker::setp ( const vpColVector tp)
inline

Definition at line 242 of file vpTemplateTracker.h.

void vpTemplateTracker::setPyramidal ( unsigned int  nlevels = 2,
unsigned int  level_to_stop = 1 
)
inline

Set the number of pyramid levels used in the multi-resolution scheme. If nlevels > 1, the tracker uses a pyramidal approach.

Parameters
nlevels: Number of pyramid levels. Algorithm starts at level nlevels-1.
level_to_stop: Last level of the pyramid that will be considered. Lowest level is zero.
Examples:
templateTracker.cpp, and tutorial-template-tracker.cpp.

Definition at line 256 of file vpTemplateTracker.h.

void vpTemplateTracker::setSampling ( int  sample_i,
int  sample_j 
)
inline

Set the pixel sampling parameters along the rows and the columns.

Parameters
sample_i: Sampling factor along the rows. If 1 all the lines are considered. If 2, consider one line over two.
sample_j: Sampling factor along the columns. If 1 all the columns are considered. If 2, consider one column over two.
Examples:
templateTracker.cpp, and tutorial-template-tracker.cpp.

Definition at line 275 of file vpTemplateTracker.h.

void vpTemplateTracker::setThresholdGradient ( double  threshold)
inline
Examples:
templateTracker.cpp.

Definition at line 280 of file vpTemplateTracker.h.

void vpTemplateTracker::setUseBrent ( bool  b)
inline

By default Brent usage is disabled.

Definition at line 282 of file vpTemplateTracker.h.

void vpTemplateTracker::track ( const vpImage< unsigned char > &  I)

Track the template on image I.

Parameters
IImage to process.
Examples:
templateTracker.cpp, and tutorial-template-tracker.cpp.

Definition at line 794 of file vpTemplateTracker.cpp.

References nbLvlPyr, trackNoPyr(), and trackPyr().

void vpTemplateTracker::trackRobust ( const vpImage< unsigned char > &  I)

Definition at line 899 of file vpTemplateTracker.cpp.

References costFunctionVerification, getCost(), getGaussianBluredImage(), p, and trackNoPyr().

Referenced by trackPyr().

Member Data Documentation

bool vpTemplateTracker::costFunctionVerification
protected

Definition at line 105 of file vpTemplateTracker.h.

Referenced by trackRobust().

vpMatrix vpTemplateTracker::dW
protected
vpMatrix* vpTemplateTracker::HdesirePyr
protected

Definition at line 95 of file vpTemplateTracker.h.

Referenced by initHessienDesiredPyr(), initPyramidal(), resetTracker(), and trackPyr().

vpMatrix* vpTemplateTracker::HLMdesireInversePyr
protected

Definition at line 100 of file vpTemplateTracker.h.

Referenced by initHessienDesiredPyr(), initPyramidal(), resetTracker(), and trackPyr().

vpMatrix* vpTemplateTracker::HLMdesirePyr
protected

Definition at line 98 of file vpTemplateTracker.h.

Referenced by initHessienDesiredPyr(), initPyramidal(), resetTracker(), and trackPyr().

unsigned int vpTemplateTracker::l0Pyr
protected

Definition at line 67 of file vpTemplateTracker.h.

Referenced by initClick(), initFromPoints(), initFromZone(), initPyramidal(), and trackPyr().

int vpTemplateTracker::mod_i
protected

Definition at line 113 of file vpTemplateTracker.h.

Referenced by initTracking().

int vpTemplateTracker::mod_j
protected

Definition at line 114 of file vpTemplateTracker.h.

Referenced by initTracking().

unsigned int vpTemplateTracker::nbIterBrent
protected

Definition at line 108 of file vpTemplateTracker.h.

Referenced by computeOptimalBrentGain().

unsigned int vpTemplateTracker::nbLvlPyr
protected
unsigned int vpTemplateTracker::nbParam
protected

Definition at line 115 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerMI::computeGradient(), vpTemplateTrackerMI::computeHessien(), vpTemplateTrackerMI::computeHessienNormalized(), computeOptimalBrentGain(), vpTemplateTrackerMI::computeProba(), vpTemplateTrackerSSDESM::initCompInverse(), vpTemplateTrackerZNCCInverseCompositional::initCompInverse(), vpTemplateTrackerSSDInverseCompositional::initCompInverse(), vpTemplateTrackerMIESM::initCompInverse(), vpTemplateTrackerMIInverseCompositional::initCompInverse(), vpTemplateTrackerSSDForwardCompositional::initCompo(), vpTemplateTrackerMIForwardCompositional::initCompo(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerMIForwardCompositional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initTemplateRefBspline(), initTracking(), vpTemplateTrackerMI::setBspline(), vpTemplateTrackerMI::setNc(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), trackPyr(), vpTemplateTracker(), vpTemplateTrackerMI::vpTemplateTrackerMI(), vpTemplateTrackerSSD::vpTemplateTrackerSSD(), vpTemplateTrackerSSDESM::vpTemplateTrackerSSDESM(), vpTemplateTrackerSSDInverseCompositional::vpTemplateTrackerSSDInverseCompositional(), vpTemplateTrackerZNCC::vpTemplateTrackerZNCC(), and vpTemplateTrackerMI::zeroProbabilities().

vpColVector vpTemplateTracker::p
protected

Definition at line 128 of file vpTemplateTracker.h.

Referenced by display(), vpTemplateTrackerSSDESM::initCompInverse(), vpTemplateTrackerZNCCInverseCompositional::initCompInverse(), vpTemplateTrackerSSDInverseCompositional::initCompInverse(), vpTemplateTrackerMIESM::initCompInverse(), vpTemplateTrackerMIInverseCompositional::initCompInverse(), vpTemplateTrackerSSDForwardCompositional::initCompo(), vpTemplateTrackerMIForwardCompositional::initCompo(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerMIForwardCompositional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initPosEvalRMS(), vpTemplateTrackerMIInverseCompositional::initPosEvalRMS(), resetTracker(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), trackPyr(), trackRobust(), and vpTemplateTracker().

vpTemplateTrackerPoint* vpTemplateTracker::ptTemplate
protected

Definition at line 70 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerSSD::getCost(), vpTemplateTrackerZNCC::getCost(), vpTemplateTrackerMI::getCost(), vpTemplateTrackerMI::getMI(), vpTemplateTrackerMI::getMI256(), vpTemplateTrackerMI::getNormalizedCost(), vpTemplateTrackerSSD::getSSD(), vpTemplateTrackerSSDESM::initCompInverse(), vpTemplateTrackerZNCCInverseCompositional::initCompInverse(), vpTemplateTrackerSSDInverseCompositional::initCompInverse(), vpTemplateTrackerMIESM::initCompInverse(), vpTemplateTrackerMIInverseCompositional::initCompInverse(), vpTemplateTrackerSSDForwardCompositional::initCompo(), vpTemplateTrackerMIForwardCompositional::initCompo(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerMIForwardCompositional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), initHessienDesiredPyr(), vpTemplateTrackerMIInverseCompositional::initTemplateRefBspline(), initTracking(), initTrackingPyr(), resetTracker(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), and trackPyr().

vpTemplateTrackerPointCompo** vpTemplateTracker::ptTemplateCompoPyr
protected

Definition at line 87 of file vpTemplateTracker.h.

Referenced by initHessienDesiredPyr(), initPyramidal(), resetTracker(), and trackPyr().

bool vpTemplateTracker::ptTemplateInit
protected

Definition at line 72 of file vpTemplateTracker.h.

Referenced by initTracking(), and resetTracker().

vpTemplateTrackerPoint** vpTemplateTracker::ptTemplatePyr
protected
bool vpTemplateTracker::ptTemplateSelectInit
protected

Definition at line 77 of file vpTemplateTracker.h.

Referenced by initTracking(), and resetTracker().

bool** vpTemplateTracker::ptTemplateSelectPyr
protected
vpImage<unsigned char>* vpTemplateTracker::pyr_IDes
protected

Definition at line 91 of file vpTemplateTracker.h.

Referenced by initPyramidal(), initTrackingPyr(), and resetTracker().

bool vpTemplateTracker::pyrInitialised
protected

Definition at line 68 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerSSD::getSSD(), initPyramidal(), and resetTracker().

double vpTemplateTracker::ratioPixelIn
protected
unsigned int vpTemplateTracker::templateSelectSize
protected

Definition at line 78 of file vpTemplateTracker.h.

Referenced by initTracking().

unsigned int vpTemplateTracker::templateSize
protected

Definition at line 73 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerSSD::getCost(), vpTemplateTrackerZNCC::getCost(), vpTemplateTrackerMI::getCost(), vpTemplateTrackerMI::getMI(), vpTemplateTrackerMI::getMI256(), vpTemplateTrackerMI::getNormalizedCost(), vpTemplateTrackerSSD::getSSD(), vpTemplateTrackerSSDESM::initCompInverse(), vpTemplateTrackerZNCCInverseCompositional::initCompInverse(), vpTemplateTrackerSSDInverseCompositional::initCompInverse(), vpTemplateTrackerMIESM::initCompInverse(), vpTemplateTrackerMIInverseCompositional::initCompInverse(), vpTemplateTrackerSSDForwardCompositional::initCompo(), vpTemplateTrackerMIForwardCompositional::initCompo(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerMIForwardCompositional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), initHessienDesiredPyr(), initTracking(), initTrackingPyr(), resetTracker(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), and trackPyr().

unsigned int* vpTemplateTracker::templateSizePyr
protected
double vpTemplateTracker::thresholdGradient
protected

Definition at line 104 of file vpTemplateTracker.h.

Referenced by initTracking().

vpTemplateTrackerWarp* vpTemplateTracker::Warp
protected

Definition at line 126 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerZNCCInverseCompositional::computeEvalRMS(), vpTemplateTrackerSSDInverseCompositional::computeEvalRMS(), vpTemplateTrackerMIForwardAdditional::computeEvalRMS(), vpTemplateTrackerMIInverseCompositional::computeEvalRMS(), computeOptimalBrentGain(), display(), vpTemplateTrackerSSD::getCost(), vpTemplateTrackerZNCC::getCost(), vpTemplateTrackerMI::getCost(), vpTemplateTrackerMI::getMI(), vpTemplateTrackerMI::getMI256(), vpTemplateTrackerMI::getNormalizedCost(), vpTemplateTrackerSSD::getSSD(), vpTemplateTrackerSSDESM::initCompInverse(), vpTemplateTrackerZNCCInverseCompositional::initCompInverse(), vpTemplateTrackerSSDInverseCompositional::initCompInverse(), vpTemplateTrackerMIESM::initCompInverse(), vpTemplateTrackerMIInverseCompositional::initCompInverse(), vpTemplateTrackerSSDForwardCompositional::initCompo(), vpTemplateTrackerMIForwardCompositional::initCompo(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerMIForwardCompositional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initPosEvalRMS(), vpTemplateTrackerSSDInverseCompositional::initPosEvalRMS(), vpTemplateTrackerMIForwardAdditional::initPosEvalRMS(), vpTemplateTrackerMIInverseCompositional::initPosEvalRMS(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), trackPyr(), vpTemplateTracker(), vpTemplateTrackerMIESM::vpTemplateTrackerMIESM(), and vpTemplateTrackerSSDESM::vpTemplateTrackerSSDESM().

vpColVector vpTemplateTracker::X1
protected

Definition at line 132 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerZNCCInverseCompositional::computeEvalRMS(), vpTemplateTrackerSSDInverseCompositional::computeEvalRMS(), vpTemplateTrackerMIForwardAdditional::computeEvalRMS(), vpTemplateTrackerMIInverseCompositional::computeEvalRMS(), vpTemplateTrackerSSD::getCost(), vpTemplateTrackerZNCC::getCost(), vpTemplateTrackerMI::getCost(), vpTemplateTrackerMI::getMI(), vpTemplateTrackerMI::getMI256(), vpTemplateTrackerMI::getNormalizedCost(), vpTemplateTrackerSSD::getSSD(), vpTemplateTrackerSSDESM::initCompInverse(), vpTemplateTrackerZNCCInverseCompositional::initCompInverse(), vpTemplateTrackerSSDInverseCompositional::initCompInverse(), vpTemplateTrackerMIESM::initCompInverse(), vpTemplateTrackerMIInverseCompositional::initCompInverse(), vpTemplateTrackerSSDForwardCompositional::initCompo(), vpTemplateTrackerMIForwardCompositional::initCompo(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerMIForwardCompositional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initPosEvalRMS(), vpTemplateTrackerSSDInverseCompositional::initPosEvalRMS(), vpTemplateTrackerMIForwardAdditional::initPosEvalRMS(), vpTemplateTrackerMIInverseCompositional::initPosEvalRMS(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMI::vpTemplateTrackerMI(), vpTemplateTrackerSSD::vpTemplateTrackerSSD(), and vpTemplateTrackerZNCC::vpTemplateTrackerZNCC().

vpColVector vpTemplateTracker::X2
protected

Definition at line 133 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerZNCCInverseCompositional::computeEvalRMS(), vpTemplateTrackerSSDInverseCompositional::computeEvalRMS(), vpTemplateTrackerMIForwardAdditional::computeEvalRMS(), vpTemplateTrackerMIInverseCompositional::computeEvalRMS(), vpTemplateTrackerSSD::getCost(), vpTemplateTrackerZNCC::getCost(), vpTemplateTrackerMI::getCost(), vpTemplateTrackerMI::getMI(), vpTemplateTrackerMI::getMI256(), vpTemplateTrackerMI::getNormalizedCost(), vpTemplateTrackerSSD::getSSD(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerMIForwardCompositional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initPosEvalRMS(), vpTemplateTrackerSSDInverseCompositional::initPosEvalRMS(), vpTemplateTrackerMIForwardAdditional::initPosEvalRMS(), vpTemplateTrackerMIInverseCompositional::initPosEvalRMS(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMI::vpTemplateTrackerMI(), vpTemplateTrackerSSD::vpTemplateTrackerSSD(), and vpTemplateTrackerZNCC::vpTemplateTrackerZNCC().

vpTemplateTrackerZone vpTemplateTracker::zoneRef_
protected

Definition at line 140 of file vpTemplateTracker.h.

Referenced by initClick(), initFromPoints(), and initFromZone().

vpTemplateTrackerZone* vpTemplateTracker::zoneTrackedPyr
protected

Definition at line 89 of file vpTemplateTracker.h.

Referenced by initPyramidal(), initTrackingPyr(), resetTracker(), and trackPyr().