vpTemplateTrackerSSDForwardCompositional.cpp

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2015 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Template tracker.
 *
 * Authors:
 * Amaury Dame
 * Aurelien Yol
 * Fabien Spindler
 *
 *****************************************************************************/
#include <visp3/tt/vpTemplateTrackerSSDForwardCompositional.h>
#include <visp3/core/vpImageFilter.h>

vpTemplateTrackerSSDForwardCompositional::vpTemplateTrackerSSDForwardCompositional(vpTemplateTrackerWarp *warp)
  : vpTemplateTrackerSSD(warp), compoInitialised(false)
{
}

void vpTemplateTrackerSSDForwardCompositional::initCompo(const vpImage<unsigned char> &/*I*/)
{
 // std::cout<<"Initialise precomputed value of Compositionnal Direct"<<std::endl;
  int i,j;
  for(unsigned int point=0;point<templateSize;point++)
  {
    i=ptTemplate[point].y;
    j=ptTemplate[point].x;
    ptTemplate[point].dW=new double[2*nbParam];
    X1[0]=j;X1[1]=i;
    Warp->computeDenom(X1,p);
    Warp->getdWdp0(i,j,ptTemplate[point].dW);

  }
  compoInitialised=true;
}

void vpTemplateTrackerSSDForwardCompositional::initHessienDesired(const vpImage<unsigned char> &I)
{
  initCompo(I);
}

void vpTemplateTrackerSSDForwardCompositional::trackNoPyr(const vpImage<unsigned char> &I)
{
  if(!compoInitialised)
    std::cout<<"Compositionnal tracking no initialised\nUse InitCompo(vpImage<unsigned char> &I) function"<<std::endl;
  double erreur=0;
  unsigned int Nbpoint=0;

  if(blur)
    vpImageFilter::filter(I, BI,fgG,taillef);
  vpImageFilter::getGradXGauss2D(I, dIx, fgG,fgdG,taillef);
  vpImageFilter::getGradYGauss2D(I, dIy, fgG,fgdG,taillef);

  dW=0;

  double lambda=lambdaDep;
  double IW,dIWx,dIWy;
  double Tij;
  unsigned int iteration=0;
  int i,j;
  double i2,j2;
  double alpha=2.;
  do
  {
    Nbpoint=0;
    erreur=0;
    G=0;
    H=0 ;
    Warp->computeCoeff(p);
    for(unsigned int point=0;point<templateSize;point++)
    {
      i=ptTemplate[point].y;
      j=ptTemplate[point].x;
      X1[0]=j;X1[1]=i;

      Warp->computeDenom(X1,p);
      Warp->warpX(X1,X2,p);

      j2=X2[0];i2=X2[1];
      if((i2>=0)&&(j2>=0)&&(i2<I.getHeight()-1)&&(j2<I.getWidth()-1))
      {
        Tij=ptTemplate[point].val;
        if(!blur)
          IW=I.getValue(i2,j2);
        else
          IW=BI.getValue(i2,j2);
        dIWx=dIx.getValue(i2,j2);
        dIWy=dIy.getValue(i2,j2);
        Nbpoint++;
        //Calcul du Hessien
        /*Warp->dWarp(X1,X2,p,dW);
        double *tempt=new double[nbParam];
        for(int it=0;it<nbParam;it++)
        tempt[it]=dW[0][it]*dIWx+dW[1][it]*dIWy;*/

        Warp->dWarpCompo(X1,X2,p,ptTemplate[point].dW,dW);

        double *tempt=new double[nbParam];
        for(unsigned int it=0;it<nbParam;it++)
          tempt[it] =dW[0][it]*dIWx+dW[1][it]*dIWy;

        for(unsigned int it=0;it<nbParam;it++)
          for(unsigned int jt=0;jt<nbParam;jt++)
            H[it][jt]+=tempt[it]*tempt[jt];

        double er=(Tij-IW);
        for(unsigned int it=0;it<nbParam;it++)
          G[it]+=er*tempt[it];

        erreur+=(er*er);
        delete[] tempt;
      }


    }
    if(Nbpoint==0) {
      //std::cout<<"plus de point dans template suivi"<<std::endl;
      throw(vpTrackingException(vpTrackingException::notEnoughPointError, "No points in the template"));
    }

    vpMatrix::computeHLM(H,lambda,HLM);

    try
    {
      dp=1.*HLM.inverseByLU()*G;
    }
    catch(vpException &e)
    {
      //std::cout<<"probleme inversion"<<std::endl;
      throw(e);
    }

    dp=gain*dp;
    if(useBrent)
    {
      alpha=2.;
      computeOptimalBrentGain(I,p,erreur/Nbpoint,dp,alpha);
      dp=alpha*dp;
    }
    Warp->pRondp(p,dp,p);
    //p+=Gain*dp;
    iteration++;
  }
  while( /*( erreur_prec-erreur<50) &&*/ (iteration < iterationMax));

  nbIteration=iteration;
}