Visual Servoing Platform  version 3.2.0 under development (2018-10-19)
vpTemplateTrackerMIForwardCompositional Class Reference

#include <visp3/tt_mi/vpTemplateTrackerMIForwardCompositional.h>

+ Inheritance diagram for vpTemplateTrackerMIForwardCompositional:

Public Types

enum  vpHessienApproximationType {
  HESSIAN_NONSECOND = -1, HESSIAN_0, HESSIAN_d2I, HESSIAN_YOUCEF,
  HESSIAN_EXACT, HESSIAN_NEW
}
 
enum  vpHessienType { USE_HESSIEN_NORMAL, USE_HESSIEN_DESIRE, USE_HESSIEN_BEST_COND }
 
enum  vpBsplineType { BSPLINE_THIRD_ORDER = 3, BSPLINE_FOURTH_ORDER = 4 }
 

Public Member Functions

 vpTemplateTrackerMIForwardCompositional (vpTemplateTrackerWarp *_warp)
 
vpMatrix getCovarianceMatrix () const
 
double getMI () const
 
double getMI (const vpImage< unsigned char > &I, int &nc, const int &bspline, vpColVector &tp)
 
double getMI256 (const vpImage< unsigned char > &I, const vpColVector &tp)
 
double getNMI () const
 
void setApprocHessian (vpHessienApproximationType approx)
 
void setCovarianceComputation (const bool &flag)
 
void setHessianComputation (vpHessienType type)
 
void setBspline (const vpBsplineType &newbs)
 
void setLambda (double _l)
 
void setNc (int newNc)
 
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 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 initCompo ()
 
void initHessienDesired (const vpImage< unsigned char > &I)
 
void trackNoPyr (const vpImage< unsigned char > &I)
 
void computeGradient ()
 
void computeHessien (vpMatrix &H)
 
void computeHessienNormalized (vpMatrix &H)
 
void computeMI (double &MI)
 
void computeProba (int &nbpoint)
 
double getCost (const vpImage< unsigned char > &I, const vpColVector &tp)
 
double getCost (const vpImage< unsigned char > &I)
 
double getNormalizedCost (const vpImage< unsigned char > &I, const vpColVector &tp)
 
double getNormalizedCost (const vpImage< unsigned char > &I)
 
void zeroProbabilities ()
 
void computeOptimalBrentGain (const vpImage< unsigned char > &I, vpColVector &tp, double tMI, vpColVector &direction, double &alpha)
 
void getGaussianBluredImage (const vpImage< unsigned char > &I)
 
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 trackPyr (const vpImage< unsigned char > &I)
 

Protected Attributes

bool CompoInitialised
 
vpHessienType hessianComputation
 
vpHessienApproximationType ApproxHessian
 
double lambda
 
double * temp
 
double * Prt
 
double * dPrt
 
double * Pt
 
double * Pr
 
double * d2Prt
 
double * PrtTout
 
double * dprtemp
 
double * PrtD
 
double * dPrtD
 
int influBspline
 
int bspline
 
int Nc
 
int Ncb
 
vpImage< double > d2Ix
 
vpImage< double > d2Iy
 
vpImage< double > d2Ixy
 
double MI_preEstimation
 
double MI_postEstimation
 
double NMI_preEstimation
 
double NMI_postEstimation
 
vpMatrix covarianceMatrix
 
bool computeCovariance
 
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

The algorithm implemented in this class is described in [11] and [29].

Examples:
templateTracker.cpp.

Definition at line 58 of file vpTemplateTrackerMIForwardCompositional.h.

Member Enumeration Documentation

Hessian computation.

Enumerator
BSPLINE_THIRD_ORDER 
BSPLINE_FOURTH_ORDER 

Definition at line 70 of file vpTemplateTrackerMI.h.

Hessian approximation.

Enumerator
HESSIAN_NONSECOND 
HESSIAN_0 
HESSIAN_d2I 
HESSIAN_YOUCEF 
HESSIAN_EXACT 
HESSIAN_NEW 

Definition at line 57 of file vpTemplateTrackerMI.h.

Hessian computation.

Enumerator
USE_HESSIEN_NORMAL 
USE_HESSIEN_DESIRE 
USE_HESSIEN_BEST_COND 

Definition at line 67 of file vpTemplateTrackerMI.h.

Constructor & Destructor Documentation

vpTemplateTrackerMIForwardCompositional::vpTemplateTrackerMIForwardCompositional ( vpTemplateTrackerWarp _warp)
explicit

Definition at line 42 of file vpTemplateTrackerMIForwardCompositional.cpp.

Member Function Documentation

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

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, vpTemplateTracker::p, vpTemplateTracker::Warp, vpTemplateTrackerWarp::warpZone(), and vpTemplateTracker::zoneTracked.

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

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, vpTemplateTracker::p, vpTemplateTracker::Warp, vpTemplateTrackerWarp::warpZone(), and vpTemplateTracker::zoneTracked.

double vpTemplateTrackerMI::getCost ( const vpImage< unsigned char > &  I)
inlineprotectedinherited

Definition at line 115 of file vpTemplateTrackerMI.h.

References vpTemplateTrackerMI::getCost().

Referenced by vpTemplateTrackerMI::getCost().

vpMatrix vpTemplateTrackerMI::getCovarianceMatrix ( ) const
inlineinherited

Definition at line 154 of file vpTemplateTrackerMI.h.

bool vpTemplateTracker::getDiverge ( ) const
inlineinherited

Definition at line 194 of file vpTemplateTracker.h.

vpColVector vpTemplateTracker::getdp ( )
inlineinherited

Definition at line 195 of file vpTemplateTracker.h.

vpColVector vpTemplateTracker::getG ( ) const
inlineinherited

Definition at line 196 of file vpTemplateTracker.h.

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

Definition at line 291 of file vpTemplateTracker.h.

References vpImageFilter::filter().

Referenced by vpTemplateTracker::trackRobust().

vpMatrix vpTemplateTracker::getH ( ) const
inlineinherited

Definition at line 197 of file vpTemplateTracker.h.

double vpTemplateTrackerMI::getMI ( ) const
inlineinherited

Definition at line 155 of file vpTemplateTrackerMI.h.

unsigned int vpTemplateTracker::getNbIteration ( ) const
inlineinherited

Definition at line 199 of file vpTemplateTracker.h.

unsigned int vpTemplateTracker::getNbParam ( ) const
inlineinherited

Definition at line 198 of file vpTemplateTracker.h.

double vpTemplateTrackerMI::getNMI ( ) const
inlineinherited

Definition at line 158 of file vpTemplateTrackerMI.h.

double vpTemplateTrackerMI::getNormalizedCost ( const vpImage< unsigned char > &  I)
inlineprotectedinherited
vpColVector vpTemplateTracker::getp ( ) const
inlineinherited
Examples:
templateTracker.cpp, and tutorial-template-tracker.cpp.

Definition at line 200 of file vpTemplateTracker.h.

double vpTemplateTracker::getRatioPixelIn ( ) const
inlineinherited

Definition at line 201 of file vpTemplateTracker.h.

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

Definition at line 207 of file vpTemplateTracker.h.

vpTemplateTrackerZone vpTemplateTracker::getZoneRef ( ) const
inlineinherited

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 
)
inherited

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

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

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

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

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

void vpTemplateTracker::initPyramidal ( unsigned int  nbLvl,
unsigned int  l0 
)
protectedvirtualinherited
void vpTemplateTrackerMI::setApprocHessian ( vpHessienApproximationType  approx)
inlineinherited

Definition at line 160 of file vpTemplateTrackerMI.h.

void vpTemplateTracker::setBlur ( bool  b)
inlineinherited

Definition at line 220 of file vpTemplateTracker.h.

void vpTemplateTracker::setCostFunctionVerification ( bool  b)
inlineinherited

Definition at line 221 of file vpTemplateTracker.h.

void vpTemplateTrackerMI::setCovarianceComputation ( const bool &  flag)
inlineinherited

Definition at line 161 of file vpTemplateTrackerMI.h.

void vpTemplateTracker::setGain ( double  g)
inlineinherited

Definition at line 222 of file vpTemplateTracker.h.

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

Definition at line 224 of file vpTemplateTracker.h.

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

void vpTemplateTrackerMI::setHessianComputation ( vpHessienType  type)
inlineinherited

Definition at line 162 of file vpTemplateTrackerMI.h.

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

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 vpTemplateTrackerMI::setLambda ( double  _l)
inlineinherited

Definition at line 164 of file vpTemplateTrackerMI.h.

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

Definition at line 241 of file vpTemplateTracker.h.

void vpTemplateTracker::setp ( const vpColVector tp)
inlineinherited

Definition at line 242 of file vpTemplateTracker.h.

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

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 
)
inlineinherited

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)
inlineinherited
Examples:
templateTracker.cpp.

Definition at line 280 of file vpTemplateTracker.h.

void vpTemplateTracker::setUseBrent ( bool  b)
inlineinherited

By default Brent usage is disabled.

Definition at line 282 of file vpTemplateTracker.h.

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

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 vpTemplateTracker::nbLvlPyr, vpTemplateTracker::trackNoPyr(), and vpTemplateTracker::trackPyr().

void vpTemplateTrackerMIForwardCompositional::trackNoPyr ( const vpImage< unsigned char > &  I)
protectedvirtual

Implements vpTemplateTrackerMI.

Definition at line 156 of file vpTemplateTrackerMIForwardCompositional.cpp.

References vpTemplateTrackerMI::ApproxHessian, vpTemplateTracker::BI, vpTemplateTracker::blur, vpTemplateTrackerMI::bspline, CompoInitialised, vpTemplateTrackerMI::computeGradient(), vpTemplateTrackerMI::computeHessien(), vpMatrix::computeHLM(), vpTemplateTrackerMI::computeMI(), vpTemplateTracker::computeOptimalBrentGain(), vpTemplateTrackerMI::computeProba(), vpMatrix::cond(), vpTemplateTracker::diverge, vpTemplateTracker::dIx, vpTemplateTracker::dIy, vpTemplateTracker::dp, vpTemplateTracker::dW, vpTemplateTrackerWarp::dWarpCompo(), vpTemplateTracker::fgdG, vpTemplateTracker::fgG, vpImageFilter::filter(), vpTemplateTracker::G, vpTemplateTracker::gain, vpTemplateTrackerMI::getCost(), vpImageFilter::getGradXGauss2D(), vpImageFilter::getGradYGauss2D(), vpImage< Type >::getHeight(), vpImage< Type >::getValue(), vpImage< Type >::getWidth(), vpTemplateTracker::H, vpTemplateTrackerMI::HESSIAN_0, vpTemplateTrackerMI::HESSIAN_NEW, vpTemplateTrackerMI::HESSIAN_NONSECOND, vpTemplateTrackerMI::hessianComputation, vpTemplateTracker::HLM, vpTemplateTracker::HLMdesire, vpTemplateTracker::HLMdesireInverse, vpMatrix::inverseByLU(), vpTemplateTracker::iterationMax, vpTemplateTrackerMI::lambda, vpTemplateTracker::lambdaDep, vpTemplateTrackerMI::MI_postEstimation, vpTemplateTrackerMI::MI_preEstimation, vpTemplateTracker::nbIteration, vpTemplateTracker::nbParam, vpTemplateTrackerMI::Nc, vpTrackingException::notEnoughPointError, vpTemplateTracker::p, vpTemplateTrackerWarp::pRondp(), vpTemplateTrackerMI::PrtTout, vpTemplateTracker::ptTemplate, vpTemplateTracker::taillef, vpTemplateTracker::templateSize, vpTemplateTrackerMI::USE_HESSIEN_BEST_COND, vpTemplateTrackerMI::USE_HESSIEN_DESIRE, vpTemplateTracker::useBrent, vpTemplateTracker::Warp, vpTemplateTrackerWarp::warpX(), vpTemplateTrackerPoint::x, vpTemplateTracker::X1, vpTemplateTracker::X2, vpTemplateTrackerPoint::y, and vpTemplateTrackerMI::zeroProbabilities().

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

Member Data Documentation

bool vpTemplateTrackerMIForwardCompositional::CompoInitialised
protected

Definition at line 61 of file vpTemplateTrackerMIForwardCompositional.h.

Referenced by initCompo(), and trackNoPyr().

bool vpTemplateTrackerMI::computeCovariance
protectedinherited
bool vpTemplateTracker::costFunctionVerification
protectedinherited

Definition at line 105 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::trackRobust().

vpMatrix vpTemplateTrackerMI::covarianceMatrix
protectedinherited
vpImage<double> vpTemplateTrackerMI::d2Ix
protectedinherited
vpImage<double> vpTemplateTrackerMI::d2Ixy
protectedinherited
vpImage<double> vpTemplateTrackerMI::d2Iy
protectedinherited
vpMatrix* vpTemplateTracker::HLMdesireInversePyr
protectedinherited
unsigned int vpTemplateTracker::iterationGlobale
protectedinherited
double vpTemplateTrackerMI::MI_postEstimation
protectedinherited
double vpTemplateTrackerMI::MI_preEstimation
protectedinherited
int vpTemplateTracker::mod_i
protectedinherited

Definition at line 113 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::initTracking().

int vpTemplateTracker::mod_j
protectedinherited

Definition at line 114 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::initTracking().

unsigned int vpTemplateTracker::nbIterBrent
protectedinherited

Definition at line 108 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::computeOptimalBrentGain().

unsigned int vpTemplateTracker::nbParam
protectedinherited

Definition at line 115 of file vpTemplateTracker.h.

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

double vpTemplateTrackerMI::NMI_postEstimation
protectedinherited
double vpTemplateTrackerMI::NMI_preEstimation
protectedinherited
vpColVector vpTemplateTracker::p
protectedinherited
vpTemplateTrackerPoint* vpTemplateTracker::ptTemplate
protectedinherited

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(), initCompo(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTracker::initHessienDesiredPyr(), vpTemplateTrackerMIInverseCompositional::initTemplateRefBspline(), vpTemplateTracker::initTracking(), vpTemplateTracker::initTrackingPyr(), vpTemplateTracker::resetTracker(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), and vpTemplateTracker::trackPyr().

bool vpTemplateTracker::ptTemplateInit
protectedinherited
bool vpTemplateTracker::ptTemplateSelectInit
protectedinherited
vpImage<unsigned char>* vpTemplateTracker::pyr_IDes
protectedinherited
bool vpTemplateTracker::pyrInitialised
protectedinherited
double vpTemplateTracker::ratioPixelIn
protectedinherited
double* vpTemplateTrackerMI::temp
protectedinherited
unsigned int vpTemplateTracker::templateSelectSize
protectedinherited

Definition at line 78 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::initTracking().

unsigned int vpTemplateTracker::templateSize
protectedinherited

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(), initCompo(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTracker::initHessienDesiredPyr(), vpTemplateTracker::initTracking(), vpTemplateTracker::initTrackingPyr(), vpTemplateTracker::resetTracker(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), and vpTemplateTracker::trackPyr().

double vpTemplateTracker::thresholdGradient
protectedinherited

Definition at line 104 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::initTracking().

vpTemplateTrackerWarp* vpTemplateTracker::Warp
protectedinherited

Definition at line 126 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerZNCCInverseCompositional::computeEvalRMS(), vpTemplateTrackerSSDInverseCompositional::computeEvalRMS(), vpTemplateTrackerMIForwardAdditional::computeEvalRMS(), vpTemplateTrackerMIInverseCompositional::computeEvalRMS(), vpTemplateTracker::computeOptimalBrentGain(), vpTemplateTracker::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(), initCompo(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initPosEvalRMS(), vpTemplateTrackerSSDInverseCompositional::initPosEvalRMS(), vpTemplateTrackerMIForwardAdditional::initPosEvalRMS(), vpTemplateTrackerMIInverseCompositional::initPosEvalRMS(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), vpTemplateTracker::trackPyr(), vpTemplateTracker::vpTemplateTracker(), vpTemplateTrackerMIESM::vpTemplateTrackerMIESM(), and vpTemplateTrackerSSDESM::vpTemplateTrackerSSDESM().

vpColVector vpTemplateTracker::X1
protectedinherited

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(), initCompo(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initPosEvalRMS(), vpTemplateTrackerSSDInverseCompositional::initPosEvalRMS(), vpTemplateTrackerMIForwardAdditional::initPosEvalRMS(), vpTemplateTrackerMIInverseCompositional::initPosEvalRMS(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMI::vpTemplateTrackerMI(), vpTemplateTrackerSSD::vpTemplateTrackerSSD(), and vpTemplateTrackerZNCC::vpTemplateTrackerZNCC().

vpColVector vpTemplateTracker::X2
protectedinherited

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(), initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initPosEvalRMS(), vpTemplateTrackerSSDInverseCompositional::initPosEvalRMS(), vpTemplateTrackerMIForwardAdditional::initPosEvalRMS(), vpTemplateTrackerMIInverseCompositional::initPosEvalRMS(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMI::vpTemplateTrackerMI(), vpTemplateTrackerSSD::vpTemplateTrackerSSD(), and vpTemplateTrackerZNCC::vpTemplateTrackerZNCC().

vpTemplateTrackerZone vpTemplateTracker::zoneRef_
protectedinherited