vpTemplateTrackerMI.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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:
 * Example of template tracking.
 *
 * Authors:
 * Amaury Dame
 * Aurelien Yol
 * Fabien Spindler
 *
 *****************************************************************************/
#ifndef vpTemplateTrackerMI_hh
#define vpTemplateTrackerMI_hh

#include <visp3/core/vpConfig.h>

#include <visp3/tt/vpTemplateTracker.h>
#include <visp3/tt/vpTemplateTrackerHeader.h>
#include <visp3/core/vpImageFilter.h>

class VISP_EXPORT vpTemplateTrackerMI: public vpTemplateTracker
{
public:
  typedef enum {
    HESSIAN_NONSECOND = -1,
    HESSIAN_0,
    HESSIAN_d2I,
    HESSIAN_YOUCEF,
    HESSIAN_EXACT,
    HESSIAN_NEW
  } vpHessienApproximationType;

  typedef enum {
    USE_HESSIEN_NORMAL,
    USE_HESSIEN_DESIRE,
    USE_HESSIEN_BEST_COND
  } vpHessienType;

  typedef enum {
    BSPLINE_THIRD_ORDER = 3,
    BSPLINE_FOURTH_ORDER = 4
  } vpBsplineType;

protected:
  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;
  //Nombre de couleur concidere dans l'histogramme
  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;

protected:
  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){return getCost(I,p);}
  double  getNormalizedCost(const vpImage<unsigned char> &I, const vpColVector &tp);
  double  getNormalizedCost(const vpImage<unsigned char> &I){return getNormalizedCost(I,p);}
  virtual void    initHessienDesired(const vpImage<unsigned char> &I)=0;
  virtual void    trackNoPyr(const vpImage<unsigned char> &I)=0;
  void    zeroProbabilities();

//private:
//#ifndef DOXYGEN_SHOULD_SKIP_THIS
//  vpTemplateTrackerMI(const vpTemplateTrackerMI &)
//    : vpTemplateTracker(), hessianComputation(USE_HESSIEN_NORMAL), ApproxHessian(HESSIAN_0), lambda(0),
//      temp(NULL), Prt(NULL), dPrt(NULL), Pt(NULL), Pr(NULL), d2Prt(NULL), PrtTout(NULL),
//      dprtemp(NULL), PrtD(NULL), dPrtD(NULL), influBspline(0), bspline(0), Nc(0), Ncb(0),
//      d2Ix(), d2Iy(), d2Ixy(), MI_preEstimation(0), MI_postEstimation(0),
//      NMI_preEstimation(0), NMI_postEstimation(0), covarianceMatrix(), computeCovariance(false)
//  {
//    throw vpException(vpException::functionNotImplementedError, "Not implemented!");
//  }
//    vpTemplateTrackerMI &operator=(const vpTemplateTrackerMI &){
//      throw vpException(vpException::functionNotImplementedError, "Not implemented!");
//      return *this;
//    }
//#endif

public:
  //constructeur
  vpTemplateTrackerMI()
    : vpTemplateTracker(), hessianComputation(USE_HESSIEN_NORMAL), ApproxHessian(HESSIAN_0), lambda(0),
      temp(NULL), Prt(NULL), dPrt(NULL), Pt(NULL), Pr(NULL), d2Prt(NULL), PrtTout(NULL),
      dprtemp(NULL), PrtD(NULL), dPrtD(NULL), influBspline(0), bspline(0), Nc(0), Ncb(0),
      d2Ix(), d2Iy(), d2Ixy(), MI_preEstimation(0), MI_postEstimation(0),
      NMI_preEstimation(0), NMI_postEstimation(0), covarianceMatrix(), computeCovariance(false)
  {}
  vpTemplateTrackerMI(vpTemplateTrackerWarp *_warp);
  ~vpTemplateTrackerMI();
  vpMatrix getCovarianceMatrix() const { return covarianceMatrix; }
  double getMI() const {return MI_postEstimation;}
  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 {return NMI_postEstimation;}
  //initialisation du Hessien en position desiree
  void setApprocHessian(vpHessienApproximationType approx){ApproxHessian=approx;}
  void setCovarianceComputation(const bool & flag){ computeCovariance = flag; }
  void setHessianComputation(vpHessienType type){hessianComputation=type;}
  void setBspline(const vpBsplineType &newbs);
  void setLambda(double _l) {lambda = _l ; }
  void setNc(int newNc);
};

#endif