#include <vpTemplateTrackerMIESM.h>

Inheritance diagram for vpTemplateTrackerMIESM:

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
	vpTemplateTrackerMIESM ()

	vpTemplateTrackerMIESM (vpTemplateTrackerWarp *_warp)

void	setMinimizationMethod (vpMinimizationTypeMIESM method)

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, unsigned int thickness=3)

void	display (const vpImage< vpRGBa > &I, const vpColor &col=vpColor::green, 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	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	setThresholdResidualDifference (double threshold)

void	setUseBrent (bool b)

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

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

Deprecated functions
vp_deprecated void	setThresholdRMS (double threshold)

Protected Member Functions
void	initCompInverse ()

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	computeEvalRMS (const vpColVector &p)

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)

void	initPosEvalRMS (const vpColVector &p)

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
vpMinimizationTypeMIESM	minimizationMethod

bool	CompoInitialised

vpMatrix	HDirect

vpMatrix	HInverse

vpMatrix	HdesireDirect

vpMatrix	HdesireInverse

vpColVector	GDirect

vpColVector	GInverse

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

std::vector< double >	m_du

std::vector< double >	m_dv

std::vector< double >	m_A

std::vector< double >	m_dB

std::vector< std::vector< double > >	m_d2u

std::vector< std::vector< double > >	m_d2v

std::vector< std::vector< double > >	m_dA

unsigned int	nbLvlPyr

unsigned int	l0Pyr

bool	pyrInitialised

double	evolRMS

std::vector< double >	x_pos

std::vector< double >	y_pos

double	evolRMS_eps

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

Examples:: templateTracker.cpp.

Definition at line 54 of file vpTemplateTrackerMIESM.h.

Member Enumeration Documentation

enum vpTemplateTrackerMI::vpBsplineType

inherited

Hessian computation.

Enumerator
BSPLINE_THIRD_ORDER
BSPLINE_FOURTH_ORDER

Definition at line 70 of file vpTemplateTrackerMI.h.

enum vpTemplateTrackerMI::vpHessienApproximationType

inherited

Hessian approximation.

Enumerator
HESSIAN_NONSECOND
HESSIAN_0
HESSIAN_d2I
HESSIAN_YOUCEF
HESSIAN_EXACT
HESSIAN_NEW

Definition at line 57 of file vpTemplateTrackerMI.h.

enum vpTemplateTrackerMI::vpHessienType

inherited

Hessian computation.

Enumerator
USE_HESSIEN_NORMAL
USE_HESSIEN_DESIRE
USE_HESSIEN_BEST_COND

Definition at line 67 of file vpTemplateTrackerMI.h.

Constructor & Destructor Documentation

vpTemplateTrackerMIESM::vpTemplateTrackerMIESM ( )

inline

Default constructor.

Definition at line 98 of file vpTemplateTrackerMIESM.h.

vpTemplateTrackerMIESM::vpTemplateTrackerMIESM ( vpTemplateTrackerWarp * _warp )

explicit

Definition at line 47 of file vpTemplateTrackerMIESM.cpp.

References vpException::badValue, vpTemplateTrackerWarp::isESMcompatible(), vpTemplateTracker::useCompositionnal, vpTemplateTracker::useInverse, and vpTemplateTracker::Warp.

Member Function Documentation

void vpTemplateTracker::computeEvalRMS ( const vpColVector & param )

protectedinherited

Compute residual. Before using this function you need to call initPosEvalRMS() once.

Parameters

[in] param : Warp function parameters.

See also: initPosEvalRMS()

Definition at line 774 of file vpTemplateTracker.cpp.

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

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

void vpTemplateTrackerMI::computeGradient ( )

protectedinherited

Definition at line 546 of file vpTemplateTrackerMI.cpp.

References vpTemplateTrackerMI::dPrt, vpTemplateTrackerMI::dprtemp, vpTemplateTracker::G, vpTemplateTracker::nbParam, vpTemplateTrackerMI::Ncb, vpTemplateTrackerMI::Prt, and vpTemplateTrackerMI::Pt.

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

void vpTemplateTrackerMI::computeHessien ( vpMatrix & H )

protectedinherited

void vpTemplateTrackerMI::computeHessienNormalized ( vpMatrix & H )

protectedinherited

Definition at line 456 of file vpTemplateTrackerMI.cpp.

References vpTemplateTrackerMI::d2Prt, vpTemplateTrackerMI::dPrt, vpTemplateTrackerMI::dprtemp, vpTemplateTrackerMI::m_A, vpTemplateTrackerMI::m_d2u, vpTemplateTrackerMI::m_d2v, vpTemplateTrackerMI::m_dA, vpTemplateTrackerMI::m_dB, vpTemplateTrackerMI::m_du, vpTemplateTrackerMI::m_dv, vpTemplateTracker::nbParam, vpTemplateTrackerMI::Ncb, vpTemplateTrackerMI::Pr, vpTemplateTrackerMI::Prt, and vpTemplateTrackerMI::Pt.

Referenced by vpTemplateTrackerMIInverseCompositional::trackNoPyr().

void vpTemplateTrackerMI::computeMI ( double & MI )

protectedinherited

Definition at line 383 of file vpTemplateTrackerMI.cpp.

References vpTemplateTrackerMI::Ncb, vpTemplateTrackerMI::Pr, vpTemplateTrackerMI::Prt, and vpTemplateTrackerMI::Pt.

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

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

protectedinherited

void vpTemplateTrackerMI::computeProba ( int & nbpoint )

protectedinherited

Definition at line 338 of file vpTemplateTrackerMI.cpp.

References vpTemplateTrackerMI::bspline, vpTemplateTrackerMI::d2Prt, vpTemplateTrackerMI::dPrt, vpTemplateTracker::nbParam, vpTemplateTrackerMI::Nc, vpTemplateTrackerMI::Ncb, vpTrackingException::notEnoughPointError, vpTemplateTrackerMI::Prt, and vpTemplateTrackerMI::PrtTout.

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

void vpTemplateTracker::display	(	const vpImage< unsigned char > &	I,
		const vpColor &	col = `vpColor::green`,
		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 318 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`,
		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 360 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,
		const vpColVector &	tp
	)

protectedvirtualinherited

Implements vpTemplateTracker.

Definition at line 147 of file vpTemplateTrackerMI.cpp.

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

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

inlineprotectedinherited

Definition at line 125 of file vpTemplateTrackerMI.h.

References vpTemplateTrackerMI::getCost().

Referenced by vpTemplateTrackerMI::getCost().

vpMatrix vpTemplateTrackerMI::getCovarianceMatrix ( ) const

inlineinherited

Definition at line 165 of file vpTemplateTrackerMI.h.

bool vpTemplateTracker::getDiverge ( ) const

inlineinherited

Definition at line 167 of file vpTemplateTracker.h.

vpColVector vpTemplateTracker::getdp ( )

inlineinherited

Definition at line 168 of file vpTemplateTracker.h.

vpColVector vpTemplateTracker::getG ( ) const

inlineinherited

Definition at line 169 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 170 of file vpTemplateTracker.h.

double vpTemplateTrackerMI::getMI ( ) const

inlineinherited

Definition at line 166 of file vpTemplateTrackerMI.h.

double vpTemplateTrackerMI::getMI	(	const vpImage< unsigned char > &	I,
		int &	nc,
		const int &	bspline,
		vpColVector &	tp
	)

inherited

Definition at line 589 of file vpTemplateTrackerMI.cpp.

References vpTemplateTracker::blur, vpTemplateTracker::fgG, vpImageFilter::filter(), vpImage< Type >::getHeight(), vpImage< Type >::getValue(), vpImage< Type >::getWidth(), vpTemplateTracker::ptTemplate, vpTemplateTracker::taillef, vpTemplateTracker::templateSize, vpTemplateTrackerPoint::val, vpTemplateTracker::Warp, vpTemplateTrackerWarp::warpX(), vpTemplateTrackerPoint::x, vpTemplateTracker::X1, vpTemplateTracker::X2, and vpTemplateTrackerPoint::y.

double vpTemplateTrackerMI::getMI256	(	const vpImage< unsigned char > &	I,
		const vpColVector &	tp
	)

inherited

Definition at line 699 of file vpTemplateTrackerMI.cpp.

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

unsigned int vpTemplateTracker::getNbIteration ( ) const

inlineinherited

Examples:: templateTracker.cpp.

Definition at line 172 of file vpTemplateTracker.h.

unsigned int vpTemplateTracker::getNbParam ( ) const

inlineinherited

Definition at line 171 of file vpTemplateTracker.h.

double vpTemplateTrackerMI::getNMI ( ) const

inlineinherited

Definition at line 169 of file vpTemplateTrackerMI.h.

double vpTemplateTrackerMI::getNormalizedCost	(	const vpImage< unsigned char > &	I,
		const vpColVector &	tp
	)

protectedinherited

Definition at line 243 of file vpTemplateTrackerMI.cpp.

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

Referenced by vpTemplateTrackerMIInverseCompositional::trackNoPyr().

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

inlineprotectedinherited

Definition at line 127 of file vpTemplateTrackerMI.h.

References vpTemplateTrackerMI::getNormalizedCost(), vpTemplateTracker::initHessienDesired(), and vpTemplateTracker::trackNoPyr().

Referenced by vpTemplateTrackerMI::getNormalizedCost().

vpColVector vpTemplateTracker::getp ( ) const

inlineinherited

Examples:: templateTracker.cpp, and tutorial-template-tracker.cpp.

Definition at line 173 of file vpTemplateTracker.h.

double vpTemplateTracker::getRatioPixelIn ( ) const

inlineinherited

Definition at line 174 of file vpTemplateTracker.h.

vpTemplateTrackerWarp* vpTemplateTracker::getWarp ( ) const

inlineinherited

Returns: The pointer to the warper.

Examples:: templateTracker.cpp.

Definition at line 180 of file vpTemplateTracker.h.

vpTemplateTrackerZone vpTemplateTracker::getZoneRef ( ) const

inlineinherited

Return the reference template zone.

Examples:: templateTracker.cpp.

Definition at line 185 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 584 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 vpTemplateTrackerMIESM::initCompInverse ( )

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 609 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 630 of file vpTemplateTracker.cpp.

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

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

protectedvirtual

Implements vpTemplateTrackerMI.

Definition at line 59 of file vpTemplateTrackerMIESM.cpp.

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

protectedvirtualinherited

void vpTemplateTracker::initPosEvalRMS ( const vpColVector & param )

protectedinherited

Initialize residual computed using computeEvalRMS().

Parameters

[in] param : Warp function parameters.

See also: computeEvalRMS()

Definition at line 807 of file vpTemplateTracker.cpp.

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

Referenced by vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), and vpTemplateTrackerMIInverseCompositional::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 513 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 81 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 538 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 158 of file vpTemplateTracker.cpp.

Referenced by vpTemplateTracker::~vpTemplateTracker().

void vpTemplateTrackerMI::setApprocHessian ( vpHessienApproximationType approx )

inlineinherited

Definition at line 171 of file vpTemplateTrackerMI.h.

void vpTemplateTracker::setBlur ( bool b )

inlineinherited

Definition at line 193 of file vpTemplateTracker.h.

void vpTemplateTrackerMI::setBspline ( const vpBsplineType & newbs )

inherited

Definition at line 44 of file vpTemplateTrackerMI.cpp.

References vpTemplateTrackerMI::bspline, vpTemplateTrackerMI::d2Prt, vpTemplateTrackerMI::dPrt, vpTemplateTrackerMI::dPrtD, vpTemplateTrackerMI::hessianComputation, vpTemplateTrackerMI::influBspline, vpTemplateTracker::nbParam, vpTemplateTrackerMI::Nc, vpTemplateTrackerMI::Ncb, vpTemplateTrackerMI::Pr, vpTemplateTrackerMI::Prt, vpTemplateTrackerMI::PrtD, vpTemplateTrackerMI::PrtTout, vpTemplateTrackerMI::Pt, and vpTemplateTrackerMI::USE_HESSIEN_DESIRE.

void vpTemplateTracker::setCostFunctionVerification ( bool b )

inlineinherited

Definition at line 194 of file vpTemplateTracker.h.

void vpTemplateTrackerMI::setCovarianceComputation ( const bool & flag )

inlineinherited

Definition at line 172 of file vpTemplateTrackerMI.h.

void vpTemplateTracker::setGain ( double g )

inlineinherited

Definition at line 195 of file vpTemplateTracker.h.

void vpTemplateTracker::setGaussianFilterSize ( unsigned int new_taill )

inherited

Definition at line 67 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 197 of file vpTemplateTracker.h.

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

void vpTemplateTrackerMI::setHessianComputation ( vpHessienType type )

inlineinherited

Definition at line 173 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 208 of file vpTemplateTracker.h.

void vpTemplateTrackerMI::setLambda ( double _l )

inlineinherited

Definition at line 175 of file vpTemplateTrackerMI.h.

void vpTemplateTrackerMIESM::setMinimizationMethod ( vpMinimizationTypeMIESM method )

inline

Definition at line 105 of file vpTemplateTrackerMIESM.h.

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

inlineinherited

Definition at line 214 of file vpTemplateTracker.h.

void vpTemplateTrackerMI::setNc ( int newNc )

inherited

Definition at line 115 of file vpTemplateTrackerMI.cpp.

References vpTemplateTrackerMI::bspline, vpTemplateTrackerMI::d2Prt, vpTemplateTrackerMI::dPrt, vpTemplateTrackerMI::dPrtD, vpTemplateTrackerMI::influBspline, vpTemplateTracker::nbParam, vpTemplateTrackerMI::Nc, vpTemplateTrackerMI::Ncb, vpTemplateTrackerMI::Pr, vpTemplateTrackerMI::Prt, vpTemplateTrackerMI::PrtD, vpTemplateTrackerMI::PrtTout, and vpTemplateTrackerMI::Pt.

void vpTemplateTracker::setp ( const vpColVector & tp )

inlineinherited

Definition at line 215 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 230 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 249 of file vpTemplateTracker.h.

void vpTemplateTracker::setThresholdGradient ( double threshold )

inlineinherited

Examples:: templateTracker.cpp.

Definition at line 254 of file vpTemplateTracker.h.

void vpTemplateTracker::setThresholdResidualDifference ( double threshold )

inlineinherited

Set the threshold used to stop optimization loop. When the residual difference between two successive iterations becomes lower than the threshold we stop optimization loop.

Note: Increasing the default value allows to speed up the tracking.

Parameters

threshold : Threshold used to stop optimization. Default value is set to 1e-4.

Examples:: templateTracker.cpp.

Definition at line 264 of file vpTemplateTracker.h.

vp_deprecated void vpTemplateTracker::setThresholdRMS ( double threshold )

inlineinherited

Deprecated:: This function is deprecated and the value set is no more used. Use rather setThresholdResidualDerivative()

Parameters

threshold : Unused value.

Definition at line 282 of file vpTemplateTracker.h.

void vpTemplateTracker::setUseBrent ( bool b )

inlineinherited

By default Brent usage is disabled.

Definition at line 267 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 697 of file vpTemplateTracker.cpp.

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

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

protectedvirtual

Implements vpTemplateTrackerMI.

Definition at line 221 of file vpTemplateTrackerMIESM.cpp.

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

protectedvirtualinherited

Definition at line 705 of file vpTemplateTracker.cpp.

Referenced by vpTemplateTracker::track().

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

inherited

Definition at line 749 of file vpTemplateTracker.cpp.

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

Referenced by vpTemplateTracker::trackPyr().

void vpTemplateTrackerMI::zeroProbabilities ( )

protectedinherited

Definition at line 573 of file vpTemplateTrackerMI.cpp.

References vpTemplateTrackerMI::d2Prt, vpTemplateTrackerMI::dPrt, vpTemplateTrackerMI::influBspline, vpTemplateTracker::nbParam, vpTemplateTrackerMI::Nc, vpTemplateTrackerMI::Ncb, vpTemplateTrackerMI::Prt, and vpTemplateTrackerMI::PrtTout.

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

Member Data Documentation

vpHessienApproximationType vpTemplateTrackerMI::ApproxHessian

protectedinherited

Definition at line 74 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMI::computeHessien(), vpTemplateTrackerMIInverseCompositional::initCompInverse(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), trackNoPyr(), and vpTemplateTrackerMIInverseCompositional::trackNoPyr().

vpImage<double> vpTemplateTracker::BI

protectedinherited

Definition at line 141 of file vpTemplateTracker.h.

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

bool vpTemplateTracker::blur

protectedinherited

Definition at line 110 of file vpTemplateTracker.h.

int vpTemplateTrackerMI::bspline

protectedinherited

Definition at line 90 of file vpTemplateTrackerMI.h.

bool vpTemplateTrackerMIESM::CompoInitialised

protected

Definition at line 66 of file vpTemplateTrackerMIESM.h.

Referenced by initCompInverse(), and trackNoPyr().

bool vpTemplateTrackerMI::computeCovariance

protectedinherited

Definition at line 106 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMIInverseCompositional::trackNoPyr().

bool vpTemplateTracker::costFunctionVerification

protectedinherited

Definition at line 109 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::trackRobust().

vpMatrix vpTemplateTrackerMI::covarianceMatrix

protectedinherited

Definition at line 105 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMIInverseCompositional::trackNoPyr().

vpImage<double> vpTemplateTrackerMI::d2Ix

protectedinherited

Definition at line 95 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMIInverseCompositional::initCompInverse(), and initHessienDesired().

vpImage<double> vpTemplateTrackerMI::d2Ixy

protectedinherited

Definition at line 97 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMIInverseCompositional::initCompInverse(), and initHessienDesired().

vpImage<double> vpTemplateTrackerMI::d2Iy

protectedinherited

Definition at line 96 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMIInverseCompositional::initCompInverse(), and initHessienDesired().

double* vpTemplateTrackerMI::d2Prt

protectedinherited

Definition at line 82 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMI::computeHessien(), vpTemplateTrackerMI::computeHessienNormalized(), vpTemplateTrackerMI::computeProba(), vpTemplateTrackerMI::setBspline(), vpTemplateTrackerMI::setNc(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), vpTemplateTrackerMI::vpTemplateTrackerMI(), vpTemplateTrackerMI::zeroProbabilities(), and vpTemplateTrackerMI::~vpTemplateTrackerMI().

bool vpTemplateTracker::diverge

protectedinherited

Definition at line 125 of file vpTemplateTracker.h.

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

vpImage<double> vpTemplateTracker::dIx

protectedinherited

Definition at line 142 of file vpTemplateTracker.h.

vpImage<double> vpTemplateTracker::dIy

protectedinherited

Definition at line 143 of file vpTemplateTracker.h.

vpColVector vpTemplateTracker::dp

protectedinherited

Definition at line 133 of file vpTemplateTracker.h.

double* vpTemplateTrackerMI::dPrt

protectedinherited

Definition at line 79 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMI::computeGradient(), vpTemplateTrackerMI::computeHessien(), vpTemplateTrackerMI::computeHessienNormalized(), vpTemplateTrackerMI::computeProba(), vpTemplateTrackerMI::setBspline(), vpTemplateTrackerMI::setNc(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), vpTemplateTrackerMI::vpTemplateTrackerMI(), vpTemplateTrackerMI::zeroProbabilities(), and vpTemplateTrackerMI::~vpTemplateTrackerMI().

double* vpTemplateTrackerMI::dPrtD

protectedinherited

Definition at line 87 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMI::setBspline(), vpTemplateTrackerMI::setNc(), vpTemplateTrackerMI::vpTemplateTrackerMI(), and vpTemplateTrackerMI::~vpTemplateTrackerMI().

double* vpTemplateTrackerMI::dprtemp

protectedinherited

Definition at line 84 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMI::computeGradient(), vpTemplateTrackerMI::computeHessien(), vpTemplateTrackerMI::computeHessienNormalized(), vpTemplateTrackerMI::vpTemplateTrackerMI(), and vpTemplateTrackerMI::~vpTemplateTrackerMI().

vpMatrix vpTemplateTracker::dW

protectedinherited

Definition at line 139 of file vpTemplateTracker.h.

double vpTemplateTracker::evolRMS

protectedinherited

Definition at line 70 of file vpTemplateTracker.h.

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

double vpTemplateTracker::evolRMS_eps

protectedinherited

Definition at line 73 of file vpTemplateTracker.h.

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

double* vpTemplateTracker::fgdG

protectedinherited

Definition at line 115 of file vpTemplateTracker.h.

double* vpTemplateTracker::fgG

protectedinherited

Definition at line 114 of file vpTemplateTracker.h.

vpColVector vpTemplateTracker::G

protectedinherited

Definition at line 105 of file vpTemplateTracker.h.

double vpTemplateTracker::gain

protectedinherited

Definition at line 107 of file vpTemplateTracker.h.

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

vpColVector vpTemplateTrackerMIESM::GDirect

protected

Definition at line 71 of file vpTemplateTrackerMIESM.h.

Referenced by initCompInverse(), and trackNoPyr().

vpColVector vpTemplateTrackerMIESM::GInverse

protected

Definition at line 72 of file vpTemplateTrackerMIESM.h.

Referenced by initCompInverse(), and trackNoPyr().

vpMatrix vpTemplateTracker::H

protectedinherited

Definition at line 97 of file vpTemplateTracker.h.

vpMatrix vpTemplateTracker::Hdesire

protectedinherited

Definition at line 98 of file vpTemplateTracker.h.

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

vpMatrix vpTemplateTrackerMIESM::HdesireDirect

protected

Definition at line 69 of file vpTemplateTrackerMIESM.h.

Referenced by initCompInverse(), and initHessienDesired().

vpMatrix vpTemplateTrackerMIESM::HdesireInverse

protected

Definition at line 70 of file vpTemplateTrackerMIESM.h.

Referenced by initCompInverse(), and initHessienDesired().

vpMatrix* vpTemplateTracker::HdesirePyr

protectedinherited

Definition at line 99 of file vpTemplateTracker.h.

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

vpMatrix vpTemplateTrackerMIESM::HDirect

protected

Definition at line 67 of file vpTemplateTrackerMIESM.h.

Referenced by initCompInverse(), and trackNoPyr().

vpHessienType vpTemplateTrackerMI::hessianComputation

protectedinherited

Definition at line 73 of file vpTemplateTrackerMI.h.

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

vpMatrix vpTemplateTrackerMIESM::HInverse

protected

Definition at line 68 of file vpTemplateTrackerMIESM.h.

Referenced by initCompInverse(), and trackNoPyr().

vpMatrix vpTemplateTracker::HLM

protectedinherited

Definition at line 100 of file vpTemplateTracker.h.

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

vpMatrix vpTemplateTracker::HLMdesire

protectedinherited

Definition at line 101 of file vpTemplateTracker.h.

vpMatrix vpTemplateTracker::HLMdesireInverse

protectedinherited

Definition at line 103 of file vpTemplateTracker.h.

vpMatrix* vpTemplateTracker::HLMdesireInversePyr

protectedinherited

Definition at line 104 of file vpTemplateTracker.h.

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

vpMatrix* vpTemplateTracker::HLMdesirePyr

protectedinherited

Definition at line 102 of file vpTemplateTracker.h.

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

int vpTemplateTrackerMI::influBspline

protectedinherited

Definition at line 88 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMI::getCost(), vpTemplateTrackerMI::setBspline(), vpTemplateTrackerMI::setNc(), vpTemplateTrackerMI::vpTemplateTrackerMI(), and vpTemplateTrackerMI::zeroProbabilities().

unsigned int vpTemplateTracker::iterationGlobale

protectedinherited

Definition at line 123 of file vpTemplateTracker.h.

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

unsigned int vpTemplateTracker::iterationMax

protectedinherited

Definition at line 121 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), 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 vpTemplateTrackerMI::lambda

protectedinherited

Definition at line 75 of file vpTemplateTrackerMI.h.

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

double vpTemplateTracker::lambdaDep

protectedinherited

Definition at line 120 of file vpTemplateTracker.h.

std::vector<double> vpTemplateTrackerMI::m_A

protectedinherited

Definition at line 111 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMI::computeHessienNormalized().

std::vector< std::vector<double> > vpTemplateTrackerMI::m_d2u

protectedinherited

Definition at line 113 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMI::computeHessienNormalized().

std::vector< std::vector<double> > vpTemplateTrackerMI::m_d2v

protectedinherited

Definition at line 114 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMI::computeHessienNormalized().

std::vector< std::vector<double> > vpTemplateTrackerMI::m_dA

protectedinherited

Definition at line 115 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMI::computeHessienNormalized().

std::vector<double> vpTemplateTrackerMI::m_dB

protectedinherited

Definition at line 112 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMI::computeHessienNormalized().

std::vector<double> vpTemplateTrackerMI::m_du

protectedinherited

Definition at line 109 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMI::computeHessienNormalized().

std::vector<double> vpTemplateTrackerMI::m_dv

protectedinherited

Definition at line 110 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMI::computeHessienNormalized().

double vpTemplateTrackerMI::MI_postEstimation

protectedinherited

Definition at line 100 of file vpTemplateTrackerMI.h.

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

double vpTemplateTrackerMI::MI_preEstimation

protectedinherited

Definition at line 99 of file vpTemplateTrackerMI.h.

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

vpMinimizationTypeMIESM vpTemplateTrackerMIESM::minimizationMethod

protected

Definition at line 65 of file vpTemplateTrackerMIESM.h.

Referenced by trackNoPyr().

int vpTemplateTracker::mod_i

protectedinherited

Definition at line 117 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::initTracking().

int vpTemplateTracker::mod_j

protectedinherited

Definition at line 118 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::initTracking().

unsigned int vpTemplateTracker::nbIteration

protectedinherited

Definition at line 126 of file vpTemplateTracker.h.

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

unsigned int vpTemplateTracker::nbIterBrent

protectedinherited

Definition at line 112 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 119 of file vpTemplateTracker.h.

int vpTemplateTrackerMI::Nc

protectedinherited

Definition at line 92 of file vpTemplateTrackerMI.h.

int vpTemplateTrackerMI::Ncb

protectedinherited

Definition at line 93 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMI::computeGradient(), vpTemplateTrackerMI::computeHessien(), vpTemplateTrackerMI::computeHessienNormalized(), vpTemplateTrackerMI::computeMI(), vpTemplateTrackerMI::computeProba(), vpTemplateTrackerMI::getCost(), vpTemplateTrackerMI::setBspline(), vpTemplateTrackerMI::setNc(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), vpTemplateTrackerMI::vpTemplateTrackerMI(), and vpTemplateTrackerMI::zeroProbabilities().

double vpTemplateTrackerMI::NMI_postEstimation

protectedinherited

Definition at line 103 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMIInverseCompositional::trackNoPyr().

double vpTemplateTrackerMI::NMI_preEstimation

protectedinherited

Definition at line 102 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMIInverseCompositional::trackNoPyr().

vpColVector vpTemplateTracker::p

protectedinherited

Definition at line 132 of file vpTemplateTracker.h.

double* vpTemplateTrackerMI::Pr

protectedinherited

Definition at line 81 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMI::computeHessienNormalized(), vpTemplateTrackerMI::computeMI(), vpTemplateTrackerMI::getCost(), vpTemplateTrackerMI::setBspline(), vpTemplateTrackerMI::setNc(), vpTemplateTrackerMI::vpTemplateTrackerMI(), and vpTemplateTrackerMI::~vpTemplateTrackerMI().

double* vpTemplateTrackerMI::Prt

protectedinherited

Definition at line 78 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMI::computeGradient(), vpTemplateTrackerMI::computeHessien(), vpTemplateTrackerMI::computeHessienNormalized(), vpTemplateTrackerMI::computeMI(), vpTemplateTrackerMI::computeProba(), vpTemplateTrackerMI::getCost(), vpTemplateTrackerMI::setBspline(), vpTemplateTrackerMI::setNc(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), vpTemplateTrackerMI::vpTemplateTrackerMI(), vpTemplateTrackerMI::zeroProbabilities(), and vpTemplateTrackerMI::~vpTemplateTrackerMI().

double* vpTemplateTrackerMI::PrtD

protectedinherited

Definition at line 86 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMI::getCost(), vpTemplateTrackerMI::setBspline(), vpTemplateTrackerMI::setNc(), vpTemplateTrackerMI::vpTemplateTrackerMI(), and vpTemplateTrackerMI::~vpTemplateTrackerMI().

double* vpTemplateTrackerMI::PrtTout

protectedinherited

Definition at line 83 of file vpTemplateTrackerMI.h.

double* vpTemplateTrackerMI::Pt

protectedinherited

Definition at line 80 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMI::computeGradient(), vpTemplateTrackerMI::computeHessien(), vpTemplateTrackerMI::computeHessienNormalized(), vpTemplateTrackerMI::computeMI(), vpTemplateTrackerMI::getCost(), vpTemplateTrackerMI::setBspline(), vpTemplateTrackerMI::setNc(), vpTemplateTrackerMI::vpTemplateTrackerMI(), and vpTemplateTrackerMI::~vpTemplateTrackerMI().

vpTemplateTrackerPoint* vpTemplateTracker::ptTemplate

protectedinherited

Definition at line 75 of file vpTemplateTracker.h.

vpTemplateTrackerPointCompo* vpTemplateTracker::ptTemplateCompo

protectedinherited

Definition at line 90 of file vpTemplateTracker.h.

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

vpTemplateTrackerPointCompo** vpTemplateTracker::ptTemplateCompoPyr

protectedinherited

Definition at line 91 of file vpTemplateTracker.h.

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

bool vpTemplateTracker::ptTemplateInit

protectedinherited

Definition at line 77 of file vpTemplateTracker.h.

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

vpTemplateTrackerPoint** vpTemplateTracker::ptTemplatePyr

protectedinherited

Definition at line 76 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 80 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 82 of file vpTemplateTracker.h.

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

bool** vpTemplateTracker::ptTemplateSelectPyr

protectedinherited

Definition at line 81 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 95 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 116 of file vpTemplateTracker.h.

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

unsigned int vpTemplateTracker::taillef

protectedinherited

Definition at line 113 of file vpTemplateTracker.h.

double* vpTemplateTrackerMI::temp

protectedinherited

Definition at line 77 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMI::vpTemplateTrackerMI(), and vpTemplateTrackerMI::~vpTemplateTrackerMI().

unsigned int vpTemplateTracker::templateSelectSize

protectedinherited

Definition at line 83 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::initTracking().

unsigned int vpTemplateTracker::templateSize

protectedinherited

Definition at line 78 of file vpTemplateTracker.h.

unsigned int* vpTemplateTracker::templateSizePyr

protectedinherited

Definition at line 79 of file vpTemplateTracker.h.

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

double vpTemplateTracker::thresholdGradient

protectedinherited

Definition at line 108 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::initTracking().

bool vpTemplateTracker::useBrent

protectedinherited

Definition at line 111 of file vpTemplateTracker.h.

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

bool vpTemplateTracker::useCompositionnal

protectedinherited

Definition at line 127 of file vpTemplateTracker.h.

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

bool vpTemplateTracker::useInverse

protectedinherited

Definition at line 128 of file vpTemplateTracker.h.

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

vpTemplateTrackerWarp* vpTemplateTracker::Warp

protectedinherited

Definition at line 130 of file vpTemplateTracker.h.

vpColVector vpTemplateTracker::X1

protectedinherited

Definition at line 136 of file vpTemplateTracker.h.

vpColVector vpTemplateTracker::X2

protectedinherited

Definition at line 137 of file vpTemplateTracker.h.

std::vector<double> vpTemplateTracker::x_pos

protectedinherited

Definition at line 71 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::computeEvalRMS(), and vpTemplateTracker::initPosEvalRMS().

std::vector<double> vpTemplateTracker::y_pos

protectedinherited

Definition at line 72 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::computeEvalRMS(), and vpTemplateTracker::initPosEvalRMS().

vpTemplateTrackerZone vpTemplateTracker::zoneRef_

protectedinherited

Definition at line 144 of file vpTemplateTracker.h.

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

vpTemplateTrackerZone* vpTemplateTracker::zoneTracked

protectedinherited

Definition at line 92 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::computeEvalRMS(), vpTemplateTracker::display(), vpTemplateTracker::initPosEvalRMS(), vpTemplateTracker::initTracking(), vpTemplateTracker::initTrackingPyr(), and vpTemplateTracker::trackPyr().

vpTemplateTrackerZone* vpTemplateTracker::zoneTrackedPyr

protectedinherited

Definition at line 93 of file vpTemplateTracker.h.

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

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