#include <visp3/tt/vpTemplateTrackerZNCCInverseCompositional.h>

Inheritance diagram for vpTemplateTrackerZNCCInverseCompositional:

Public Member Functions
	vpTemplateTrackerZNCCInverseCompositional (vpTemplateTrackerWarp *warp)

void	setThresholdRMS (double threshold)

void	setGain (double _gain)

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

vpTemplateTrackerWarp *	getWarp () 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	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	initCompInverse (const vpImage< unsigned char > &I)

void	initHessienDesired (const vpImage< unsigned char > &I)

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

void	deletePosEvalRMS ()

void	computeEvalRMS (const vpColVector &p)

void	initPosEvalRMS (const vpColVector &p)

double	getCost (const vpImage< unsigned char > &I, const vpColVector &tp)

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

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

double	evolRMS

std::vector< double >	x_pos

std::vector< double >	y_pos

double	threshold_RMS

vpColVector	moydIrefdp

vpRowVector	DI

vpRowVector	temp

unsigned int	nbLvlPyr

unsigned int	l0Pyr

bool	pyrInitialised

vpTemplateTrackerPoint *	ptTemplate

vpTemplateTrackerPoint **	ptTemplatePyr

bool	ptTemplateInit

unsigned int	templateSize

unsigned int *	templateSizePyr

bool *	ptTemplateSelect

bool **	ptTemplateSelectPyr

bool	ptTemplateSelectInit

unsigned int	templateSelectSize

vpTemplateTrackerPointCompo *	ptTemplateCompo

vpTemplateTrackerPointCompo **	ptTemplateCompoPyr

vpTemplateTrackerZone *	zoneTracked

vpTemplateTrackerZone *	zoneTrackedPyr

vpImage< unsigned char > *	pyr_IDes

vpMatrix	H

vpMatrix	Hdesire

vpMatrix *	HdesirePyr

vpMatrix	HLM

vpMatrix	HLMdesire

vpMatrix *	HLMdesirePyr

vpMatrix	HLMdesireInverse

vpMatrix *	HLMdesireInversePyr

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

vpTemplateTrackerWarp *	Warp

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 [18] and [28].

Examples:: templateTracker.cpp.

Definition at line 58 of file vpTemplateTrackerZNCCInverseCompositional.h.

Constructor & Destructor Documentation

vpTemplateTrackerZNCCInverseCompositional::vpTemplateTrackerZNCCInverseCompositional ( vpTemplateTrackerWarp * warp )

explicit

Definition at line 45 of file vpTemplateTrackerZNCCInverseCompositional.cpp.

References vpTemplateTracker::useInverse.

Member Function Documentation

void vpTemplateTrackerZNCCInverseCompositional::computeEvalRMS ( const vpColVector & p )

protected

Definition at line 392 of file vpTemplateTrackerZNCCInverseCompositional.cpp.

References evolRMS, vpTemplateTrackerTriangle::getCorner(), vpTemplateTrackerZone::getNbTriangle(), vpTemplateTrackerZone::getTriangle(), vpTemplateTracker::Warp, vpTemplateTrackerWarp::warpX(), vpTemplateTracker::X1, vpTemplateTracker::X2, x_pos, y_pos, and vpTemplateTracker::zoneTracked.

Referenced by trackNoPyr().

void vpTemplateTracker::computeOptimalBrentGain	(	const vpImage< unsigned char > &	I,
		vpColVector &	tp,
		double	tMI,
		vpColVector &	direction,
		double &	alpha
	)

protectedinherited

Definition at line 391 of file vpTemplateTracker.cpp.

References vpTemplateTracker::getCost(), vpTemplateTrackerWarp::getNbParam(), vpTemplateTrackerWarp::getParamInverse(), vpTemplateTracker::nbIterBrent, vpTemplateTracker::nbParam, vpTemplateTrackerWarp::pRondp(), vpMatrix::t(), vpTemplateTracker::useCompositionnal, vpTemplateTracker::useInverse, and vpTemplateTracker::Warp.

Referenced by vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), and vpTemplateTrackerMIInverseCompositional::trackNoPyr().

void vpTemplateTrackerZNCCInverseCompositional::deletePosEvalRMS ( )

protected

Definition at line 416 of file vpTemplateTrackerZNCCInverseCompositional.cpp.

Referenced by trackNoPyr().

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

I	Image in which the warped zone has to be displayed.
col	Color used to draw the triangle edges.
thickness	Thickness of the lines.

The following code shows how to use display capabilities:

#include <visp3/tt/vpTemplateTrackerSSDInverseCompositional.h>
#include <visp3/tt/vpTemplateTrackerWarpHomography.h>
int main()
{
  vpImage<unsigned char> I;
  vpTemplateTrackerWarpHomography warp;
  vpTemplateTrackerSSDInverseCompositional tracker(&warp);
  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

I	Image in which the warped zone has to be displayed.
col	Color used to draw the triangle edges.
thickness	Thickness of the lines.

The following code shows how to use display capabilities:

#include <visp3/tt/vpTemplateTrackerSSDInverseCompositional.h>
#include <visp3/tt/vpTemplateTrackerWarpHomography.h>
int main()
{
  vpImage<vpRGBa> I;
  vpTemplateTrackerWarpHomography warp;
  vpTemplateTrackerSSDInverseCompositional tracker(&warp);
  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 vpTemplateTrackerZNCC::getCost	(	const vpImage< unsigned char > &	I,
		const vpColVector &	tp
	)

protectedvirtualinherited

Implements vpTemplateTracker.

Definition at line 56 of file vpTemplateTrackerZNCC.cpp.

References vpTemplateTracker::BI, vpTemplateTracker::blur, vpException::divideByZeroError, vpImage< Type >::getHeight(), vpImage< Type >::getValue(), vpImage< Type >::getWidth(), vpTemplateTracker::ptTemplate, vpTemplateTracker::ratioPixelIn, vpTemplateTracker::templateSize, vpTemplateTrackerPoint::val, vpTemplateTracker::Warp, vpTemplateTrackerWarp::warpX(), vpTemplateTrackerPoint::x, vpTemplateTracker::X1, vpTemplateTracker::X2, and vpTemplateTrackerPoint::y.

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

inlineprotectedinherited

Definition at line 73 of file vpTemplateTrackerZNCC.h.

References vpTemplateTracker::getCost(), vpTemplateTracker::initHessienDesired(), and vpTemplateTracker::trackNoPyr().

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.

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.

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

I Image containing the reference template.

delaunay

Flag 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 vpTemplateTrackerZNCCInverseCompositional::initCompInverse ( const vpImage< unsigned char > & I )

protected

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

I	Image containing the reference template.
v_ip	Vector 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

I	Image containing the reference template.
zone	The 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 vpTemplateTrackerZNCCInverseCompositional::initHessienDesired ( const vpImage< unsigned char > & I )

protectedvirtual

Implements vpTemplateTrackerZNCC.

Definition at line 78 of file vpTemplateTrackerZNCCInverseCompositional.cpp.

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

protectedvirtualinherited

void vpTemplateTrackerZNCCInverseCompositional::initPosEvalRMS ( const vpColVector & p )

protected

Definition at line 370 of file vpTemplateTrackerZNCCInverseCompositional.cpp.

References vpTemplateTrackerTriangle::getCorner(), vpTemplateTrackerZone::getNbTriangle(), vpTemplateTrackerZone::getTriangle(), vpTemplateTracker::p, vpTemplateTracker::Warp, vpTemplateTrackerWarp::warpX(), vpTemplateTracker::X1, vpTemplateTracker::X2, x_pos, y_pos, and vpTemplateTracker::zoneTracked.

Referenced by trackNoPyr().

void vpTemplateTracker::initPyramidal	(	unsigned int	nbLvl,
		unsigned int	l0
	)

protectedvirtualinherited

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

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

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

protectedinherited

Definition at line 80 of file vpTemplateTracker.cpp.

Referenced by vpTemplateTracker::initClick(), vpTemplateTracker::initFromPoints(), vpTemplateTracker::initFromZone(), and vpTemplateTracker::initTrackingPyr().

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

protectedvirtualinherited

Definition at line 613 of file vpTemplateTracker.cpp.

References vpTemplateTrackerZone::copy(), vpImageFilter::getGaussPyramidal(), vpTemplateTrackerZone::getPyramidDown(), vpTemplateTracker::initTracking(), vpTemplateTracker::nbLvlPyr, vpTemplateTracker::ptTemplate, vpTemplateTracker::ptTemplatePyr, vpTemplateTracker::ptTemplateSelect, vpTemplateTracker::ptTemplateSelectPyr, vpTemplateTracker::pyr_IDes, vpTemplateTracker::templateSize, vpTemplateTracker::templateSizePyr, vpTemplateTracker::zoneTracked, and vpTemplateTracker::zoneTrackedPyr.

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

void vpTemplateTracker::resetTracker ( )

inherited

Reset the tracker by freeing the memory allocated by the template tracker during the initialization.

Examples:: templateTracker.cpp.

Definition at line 179 of file vpTemplateTracker.cpp.

Referenced by vpTemplateTracker::~vpTemplateTracker().

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 vpTemplateTrackerZNCC::setGain ( double _gain )

inlineinherited

Definition at line 84 of file vpTemplateTrackerZNCC.h.

void vpTemplateTracker::setGaussianFilterSize ( unsigned int new_taill )

inherited

Definition at line 66 of file vpTemplateTracker.cpp.

References vpTemplateTracker::fgdG, vpTemplateTracker::fgG, vpImageFilter::getGaussianDerivativeKernel(), vpImageFilter::getGaussianKernel(), and vpTemplateTracker::taillef.

void vpTemplateTracker::setHDes ( vpMatrix & tH )

inlineinherited

Definition at line 224 of file vpTemplateTracker.h.

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

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 vpTemplateTracker::setLambda ( double l )

inlineinherited

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 )

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 vpTemplateTrackerZNCCInverseCompositional::setThresholdRMS ( double threshold )

inline

Definition at line 80 of file vpTemplateTrackerZNCCInverseCompositional.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

I	Image 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 vpTemplateTrackerZNCCInverseCompositional::trackNoPyr ( const vpImage< unsigned char > & I )

protectedvirtual

Implements vpTemplateTrackerZNCC.

Definition at line 246 of file vpTemplateTrackerZNCCInverseCompositional.cpp.

References vpTemplateTracker::BI, vpTemplateTracker::blur, computeEvalRMS(), deletePosEvalRMS(), vpTemplateTracker::diverge, vpTemplateTracker::dp, vpTemplateTrackerPoint::dW, vpTemplateTracker::dW, evolRMS, vpTemplateTracker::fgG, vpImageFilter::filter(), vpTemplateTracker::G, vpImage< Type >::getHeight(), vpTemplateTrackerWarp::getParamInverse(), vpImage< Type >::getValue(), vpImage< Type >::getWidth(), vpTemplateTracker::HLMdesireInverse, initPosEvalRMS(), vpTemplateTracker::iterationMax, moydIrefdp, vpTemplateTracker::nbIteration, vpTemplateTracker::nbParam, vpTemplateTracker::p, vpTemplateTrackerWarp::pRondp(), vpTemplateTracker::ptTemplate, vpTemplateTracker::taillef, vpTemplateTracker::templateSize, threshold_RMS, vpTemplateTrackerPoint::val, vpTemplateTracker::Warp, vpTemplateTrackerWarp::warpX(), vpTemplateTrackerPoint::x, vpTemplateTracker::X1, vpTemplateTracker::X2, and vpTemplateTrackerPoint::y.

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

protectedvirtualinherited

Definition at line 802 of file vpTemplateTracker.cpp.

Referenced by vpTemplateTracker::track().

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

inherited

Definition at line 899 of file vpTemplateTracker.cpp.

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

Referenced by vpTemplateTracker::trackPyr().

Member Data Documentation

vpImage<double> vpTemplateTracker::BI

protectedinherited

Definition at line 137 of file vpTemplateTracker.h.

bool vpTemplateTracker::blur

protectedinherited

Definition at line 106 of file vpTemplateTracker.h.

bool vpTemplateTrackerZNCCInverseCompositional::compoInitialised

protected

Definition at line 61 of file vpTemplateTrackerZNCCInverseCompositional.h.

Referenced by initCompInverse().

bool vpTemplateTracker::costFunctionVerification

protectedinherited

Definition at line 105 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::trackRobust().

vpRowVector vpTemplateTrackerZNCC::DI

protectedinherited

Definition at line 68 of file vpTemplateTrackerZNCC.h.

Referenced by vpTemplateTrackerZNCC::vpTemplateTrackerZNCC().

bool vpTemplateTracker::diverge

protectedinherited

Definition at line 121 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerMIForwardCompositional::trackNoPyr(), trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), and vpTemplateTrackerMIInverseCompositional::trackNoPyr().

vpImage<double> vpTemplateTracker::dIx

protectedinherited

Definition at line 138 of file vpTemplateTracker.h.

vpImage<double> vpTemplateTracker::dIy

protectedinherited

Definition at line 139 of file vpTemplateTracker.h.

vpColVector vpTemplateTracker::dp

protectedinherited

Definition at line 129 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), and vpTemplateTracker::vpTemplateTracker().

vpMatrix vpTemplateTracker::dW

protectedinherited

Definition at line 135 of file vpTemplateTracker.h.

double vpTemplateTrackerZNCCInverseCompositional::evolRMS

protected

Definition at line 63 of file vpTemplateTrackerZNCCInverseCompositional.h.

Referenced by computeEvalRMS(), and trackNoPyr().

double* vpTemplateTracker::fgdG

protectedinherited

Definition at line 111 of file vpTemplateTracker.h.

Referenced by initCompInverse(), vpTemplateTrackerMIInverseCompositional::initCompInverse(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerMIForwardCompositional::initHessienDesired(), initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTracker::initTracking(), vpTemplateTracker::setGaussianFilterSize(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTracker::vpTemplateTracker(), and vpTemplateTracker::~vpTemplateTracker().

double* vpTemplateTracker::fgG

protectedinherited

Definition at line 110 of file vpTemplateTracker.h.

vpColVector vpTemplateTracker::G

protectedinherited

Definition at line 101 of file vpTemplateTracker.h.

double vpTemplateTracker::gain

protectedinherited

Definition at line 103 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), and vpTemplateTrackerMIInverseCompositional::trackNoPyr().

vpMatrix vpTemplateTracker::H

protectedinherited

Definition at line 93 of file vpTemplateTracker.h.

vpMatrix vpTemplateTracker::Hdesire

protectedinherited

Definition at line 94 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerMIForwardCompositional::initHessienDesired(), initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTracker::initHessienDesiredPyr(), vpTemplateTracker::initTracking(), and vpTemplateTrackerMI::vpTemplateTrackerMI().

vpMatrix* vpTemplateTracker::HdesirePyr

protectedinherited

Definition at line 95 of file vpTemplateTracker.h.

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

vpMatrix vpTemplateTracker::HLM

protectedinherited

Definition at line 96 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), vpTemplateTracker::trackPyr(), vpTemplateTrackerMI::vpTemplateTrackerMI(), vpTemplateTrackerSSD::vpTemplateTrackerSSD(), and vpTemplateTrackerZNCC::vpTemplateTrackerZNCC().

vpMatrix vpTemplateTracker::HLMdesire

protectedinherited

Definition at line 97 of file vpTemplateTracker.h.

vpMatrix vpTemplateTracker::HLMdesireInverse

protectedinherited

Definition at line 99 of file vpTemplateTracker.h.

vpMatrix* vpTemplateTracker::HLMdesireInversePyr

protectedinherited

Definition at line 100 of file vpTemplateTracker.h.

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

vpMatrix* vpTemplateTracker::HLMdesirePyr

protectedinherited

Definition at line 98 of file vpTemplateTracker.h.

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

unsigned int vpTemplateTracker::iterationGlobale

protectedinherited

Definition at line 119 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), and vpTemplateTrackerMIInverseCompositional::trackNoPyr().

unsigned int vpTemplateTracker::iterationMax

protectedinherited

Definition at line 117 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), and vpTemplateTrackerMIInverseCompositional::trackNoPyr().

unsigned int vpTemplateTracker::l0Pyr

protectedinherited

Definition at line 67 of file vpTemplateTracker.h.

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

double vpTemplateTracker::lambdaDep

protectedinherited

Definition at line 116 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerSSDESM::initCompInverse(), vpTemplateTrackerSSDInverseCompositional::initCompInverse(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerMIForwardCompositional::initHessienDesired(), initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), and vpTemplateTrackerMI::vpTemplateTrackerMI().

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().

vpColVector vpTemplateTrackerZNCCInverseCompositional::moydIrefdp

protected

Definition at line 67 of file vpTemplateTrackerZNCCInverseCompositional.h.

Referenced by initHessienDesired(), and trackNoPyr().

unsigned int vpTemplateTracker::nbIteration

protectedinherited

Definition at line 122 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), and vpTemplateTrackerMIInverseCompositional::trackNoPyr().

unsigned int vpTemplateTracker::nbIterBrent

protectedinherited

Definition at line 108 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::computeOptimalBrentGain().

unsigned int vpTemplateTracker::nbLvlPyr

protectedinherited

Definition at line 66 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::initClick(), vpTemplateTracker::initFromPoints(), vpTemplateTracker::initFromZone(), vpTemplateTracker::initHessienDesiredPyr(), vpTemplateTracker::initPyramidal(), vpTemplateTracker::initTrackingPyr(), vpTemplateTracker::resetTracker(), vpTemplateTracker::track(), and vpTemplateTracker::trackPyr().

unsigned int vpTemplateTracker::nbParam

protectedinherited

Definition at line 115 of file vpTemplateTracker.h.

vpColVector vpTemplateTracker::p

protectedinherited

Definition at line 128 of file vpTemplateTracker.h.

vpTemplateTrackerPoint* vpTemplateTracker::ptTemplate

protectedinherited

Definition at line 70 of file vpTemplateTracker.h.

vpTemplateTrackerPointCompo* vpTemplateTracker::ptTemplateCompo

protectedinherited

Definition at line 86 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerSSDESM::initCompInverse(), vpTemplateTrackerMIESM::initCompInverse(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTracker::initHessienDesiredPyr(), vpTemplateTracker::resetTracker(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), and vpTemplateTracker::trackPyr().

vpTemplateTrackerPointCompo** vpTemplateTracker::ptTemplateCompoPyr

protectedinherited

Definition at line 87 of file vpTemplateTracker.h.

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

bool vpTemplateTracker::ptTemplateInit

protectedinherited

Definition at line 72 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::initTracking(), and vpTemplateTracker::resetTracker().

vpTemplateTrackerPoint** vpTemplateTracker::ptTemplatePyr

protectedinherited

Definition at line 71 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerSSD::getSSD(), vpTemplateTracker::initHessienDesiredPyr(), vpTemplateTracker::initPyramidal(), vpTemplateTracker::initTrackingPyr(), vpTemplateTracker::resetTracker(), and vpTemplateTracker::trackPyr().

bool* vpTemplateTracker::ptTemplateSelect

protectedinherited

Definition at line 75 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerSSDInverseCompositional::initCompInverse(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTracker::initHessienDesiredPyr(), vpTemplateTracker::initTracking(), vpTemplateTracker::initTrackingPyr(), vpTemplateTracker::resetTracker(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), and vpTemplateTracker::trackPyr().

bool vpTemplateTracker::ptTemplateSelectInit

protectedinherited

Definition at line 77 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::initTracking(), and vpTemplateTracker::resetTracker().

bool** vpTemplateTracker::ptTemplateSelectPyr

protectedinherited

Definition at line 76 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::initHessienDesiredPyr(), vpTemplateTracker::initPyramidal(), vpTemplateTracker::initTrackingPyr(), vpTemplateTracker::resetTracker(), and vpTemplateTracker::trackPyr().

vpImage<unsigned char>* vpTemplateTracker::pyr_IDes

protectedinherited

Definition at line 91 of file vpTemplateTracker.h.

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

bool vpTemplateTracker::pyrInitialised

protectedinherited

Definition at line 68 of file vpTemplateTracker.h.

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

double vpTemplateTracker::ratioPixelIn

protectedinherited

Definition at line 112 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerSSD::getCost(), vpTemplateTrackerZNCC::getCost(), and vpTemplateTrackerMI::getCost().

unsigned int vpTemplateTracker::taillef

protectedinherited

Definition at line 109 of file vpTemplateTracker.h.

vpRowVector vpTemplateTrackerZNCC::temp

protectedinherited

Definition at line 69 of file vpTemplateTrackerZNCC.h.

Referenced by vpTemplateTrackerZNCC::vpTemplateTrackerZNCC().

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.

unsigned int* vpTemplateTracker::templateSizePyr

protectedinherited

Definition at line 74 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerSSD::getSSD(), vpTemplateTracker::initHessienDesiredPyr(), vpTemplateTracker::initPyramidal(), vpTemplateTracker::initTrackingPyr(), vpTemplateTracker::resetTracker(), and vpTemplateTracker::trackPyr().

double vpTemplateTrackerZNCCInverseCompositional::threshold_RMS

protected

Definition at line 66 of file vpTemplateTrackerZNCCInverseCompositional.h.

Referenced by trackNoPyr().

double vpTemplateTracker::thresholdGradient

protectedinherited

Definition at line 104 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::initTracking().

bool vpTemplateTracker::useBrent

protectedinherited

Definition at line 107 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), and vpTemplateTrackerMIInverseCompositional::trackNoPyr().

bool vpTemplateTracker::useCompositionnal

protectedinherited

Definition at line 123 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::computeOptimalBrentGain(), vpTemplateTrackerMIESM::vpTemplateTrackerMIESM(), vpTemplateTrackerMIForwardAdditional::vpTemplateTrackerMIForwardAdditional(), vpTemplateTrackerSSDESM::vpTemplateTrackerSSDESM(), vpTemplateTrackerSSDForwardAdditional::vpTemplateTrackerSSDForwardAdditional(), and vpTemplateTrackerZNCCForwardAdditional::vpTemplateTrackerZNCCForwardAdditional().

bool vpTemplateTracker::useInverse

protectedinherited

Definition at line 124 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::computeOptimalBrentGain(), vpTemplateTrackerMIESM::vpTemplateTrackerMIESM(), vpTemplateTrackerMIInverseCompositional::vpTemplateTrackerMIInverseCompositional(), vpTemplateTrackerSSDESM::vpTemplateTrackerSSDESM(), vpTemplateTrackerSSDInverseCompositional::vpTemplateTrackerSSDInverseCompositional(), and vpTemplateTrackerZNCCInverseCompositional().

vpTemplateTrackerWarp* vpTemplateTracker::Warp

protectedinherited

Definition at line 126 of file vpTemplateTracker.h.

vpColVector vpTemplateTracker::X1

protectedinherited

Definition at line 132 of file vpTemplateTracker.h.

vpColVector vpTemplateTracker::X2

protectedinherited

Definition at line 133 of file vpTemplateTracker.h.

std::vector<double> vpTemplateTrackerZNCCInverseCompositional::x_pos

protected

Definition at line 64 of file vpTemplateTrackerZNCCInverseCompositional.h.

Referenced by computeEvalRMS(), and initPosEvalRMS().

std::vector<double> vpTemplateTrackerZNCCInverseCompositional::y_pos

protected

Definition at line 65 of file vpTemplateTrackerZNCCInverseCompositional.h.

Referenced by computeEvalRMS(), and initPosEvalRMS().

vpTemplateTrackerZone vpTemplateTracker::zoneRef_

protectedinherited

Definition at line 140 of file vpTemplateTracker.h.

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

vpTemplateTrackerZone* vpTemplateTracker::zoneTracked

protectedinherited

Definition at line 88 of file vpTemplateTracker.h.

vpTemplateTrackerZone* vpTemplateTracker::zoneTrackedPyr

protectedinherited

Definition at line 89 of file vpTemplateTracker.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

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