#include <visp3/tt/vpTemplateTracker.h>

Inheritance diagram for vpTemplateTracker:

Public Member Functions
	vpTemplateTracker ()

	vpTemplateTracker (vpTemplateTrackerWarp *_warp)

virtual	~vpTemplateTracker ()

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	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	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	computeEvalRMS (const vpColVector &p)

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

virtual double	getCost (const vpImage< unsigned char > &I, const vpColVector &tp)=0

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

virtual void	initHessienDesired (const vpImage< unsigned char > &I)=0

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	trackNoPyr (const vpImage< unsigned char > &I)=0

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

Protected Attributes
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

This class allows to instanciate a template tracker using image registration algorithms [11] [12].

Examples:: templateTracker.cpp.

Definition at line 62 of file vpTemplateTracker.h.

Constructor & Destructor Documentation

◆ vpTemplateTracker() [1/2]

vpTemplateTracker::vpTemplateTracker ( )

inline

Default constructor.

Definition at line 148 of file vpTemplateTracker.h.

References vpColor::green.

◆ vpTemplateTracker() [2/2]

vpTemplateTracker::vpTemplateTracker ( vpTemplateTrackerWarp * _warp )

explicit

Definition at line 44 of file vpTemplateTracker.cpp.

References dp, fgdG, fgG, vpImageFilter::getGaussianDerivativeKernel(), vpImageFilter::getGaussianKernel(), vpTemplateTrackerWarp::getNbParam(), nbParam, p, vpColVector::resize(), taillef, and Warp.

◆ ~vpTemplateTracker()

vpTemplateTracker::~vpTemplateTracker ( )

virtual

Definition at line 146 of file vpTemplateTracker.cpp.

References fgdG, fgG, and resetTracker().

Member Function Documentation

◆ computeEvalRMS()

void vpTemplateTracker::computeEvalRMS ( const vpColVector & param )

protected

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

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

◆ computeOptimalBrentGain()

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

protected

◆ display() [1/2]

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

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

◆ display() [2/2]

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

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

◆ getCost()

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

protectedpure virtual

Implemented in vpTemplateTrackerMI, vpTemplateTrackerZNCC, and vpTemplateTrackerSSD.

Referenced by computeOptimalBrentGain(), vpTemplateTrackerZNCC::getCost(), and trackRobust().

◆ getDiverge()

bool vpTemplateTracker::getDiverge ( ) const

inline

Definition at line 167 of file vpTemplateTracker.h.

◆ getdp()

vpColVector vpTemplateTracker::getdp ( )

inline

Definition at line 168 of file vpTemplateTracker.h.

◆ getG()

vpColVector vpTemplateTracker::getG ( ) const

inline

Definition at line 169 of file vpTemplateTracker.h.

◆ getGaussianBluredImage()

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

inlineprotected

Definition at line 291 of file vpTemplateTracker.h.

References vpImageFilter::filter().

Referenced by trackRobust().

◆ getH()

vpMatrix vpTemplateTracker::getH ( ) const

inline

Definition at line 170 of file vpTemplateTracker.h.

◆ getNbIteration()

unsigned int vpTemplateTracker::getNbIteration ( ) const

inline

Examples:: templateTracker.cpp.

Definition at line 172 of file vpTemplateTracker.h.

◆ getNbParam()

unsigned int vpTemplateTracker::getNbParam ( ) const

inline

Definition at line 171 of file vpTemplateTracker.h.

◆ getp()

vpColVector vpTemplateTracker::getp ( ) const

inline

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

Definition at line 173 of file vpTemplateTracker.h.

◆ getRatioPixelIn()

double vpTemplateTracker::getRatioPixelIn ( ) const

inline

Definition at line 174 of file vpTemplateTracker.h.

◆ getWarp()

vpTemplateTrackerWarp* vpTemplateTracker::getWarp ( ) const

inline

Returns: The pointer to the warper.

Examples:: templateTracker.cpp.

Definition at line 180 of file vpTemplateTracker.h.

◆ getZoneRef()

vpTemplateTrackerZone vpTemplateTracker::getZoneRef ( ) const

inline

Return the reference template zone.

Examples:: templateTracker.cpp.

Definition at line 185 of file vpTemplateTracker.h.

◆ initClick()

void vpTemplateTracker::initClick	(	const vpImage< unsigned char > &	I,
		bool	delaunay = `false`
	)

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

◆ initFromPoints()

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

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

◆ initFromZone()

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

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

◆ initHessienDesired()

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

protectedpure virtual

◆ initHessienDesiredPyr()

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

protectedvirtual

Definition at line 644 of file vpTemplateTracker.cpp.

References vpImageFilter::getGaussPyramidal(), Hdesire, HdesirePyr, HLMdesire, HLMdesireInverse, HLMdesireInversePyr, HLMdesirePyr, initHessienDesired(), nbLvlPyr, ptTemplate, ptTemplateCompo, ptTemplateCompoPyr, ptTemplatePyr, ptTemplateSelect, ptTemplateSelectPyr, templateSize, and templateSizePyr.

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

◆ initPosEvalRMS()

void vpTemplateTracker::initPosEvalRMS ( const vpColVector & param )

protected

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(), Warp, vpTemplateTrackerWarp::warpX(), X1, X2, x_pos, y_pos, and zoneTracked.

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

◆ initPyramidal()

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

protectedvirtual

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

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

◆ initTracking()

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

protected

◆ initTrackingPyr()

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

protectedvirtual

Definition at line 538 of file vpTemplateTracker.cpp.

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

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

◆ resetTracker()

void vpTemplateTracker::resetTracker ( )

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.

References vpTemplateTrackerPoint::dW, vpTemplateTrackerPointCompo::dW, HdesirePyr, vpTemplateTrackerPoint::HiG, HLMdesireInversePyr, HLMdesirePyr, nbLvlPyr, p, ptTemplate, ptTemplateCompo, ptTemplateCompoPyr, ptTemplateInit, ptTemplatePyr, ptTemplateSelect, ptTemplateSelectInit, ptTemplateSelectPyr, pyr_IDes, pyrInitialised, templateSize, templateSizePyr, and zoneTrackedPyr.

Referenced by ~vpTemplateTracker().

◆ setBlur()

void vpTemplateTracker::setBlur ( bool b )

inline

Definition at line 193 of file vpTemplateTracker.h.

◆ setCostFunctionVerification()

void vpTemplateTracker::setCostFunctionVerification ( bool b )

inline

Definition at line 194 of file vpTemplateTracker.h.

◆ setGain()

void vpTemplateTracker::setGain ( double g )

inline

Definition at line 195 of file vpTemplateTracker.h.

◆ setGaussianFilterSize()

void vpTemplateTracker::setGaussianFilterSize ( unsigned int new_taill )

Definition at line 67 of file vpTemplateTracker.cpp.

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

◆ setHDes()

void vpTemplateTracker::setHDes ( vpMatrix & tH )

inline

Definition at line 197 of file vpTemplateTracker.h.

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

◆ setIterationMax()

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

inline

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.

◆ setLambda()

void vpTemplateTracker::setLambda ( double l )

inline

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 213 of file vpTemplateTracker.h.

◆ setNbIterBrent()

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

inline

Definition at line 214 of file vpTemplateTracker.h.

◆ setp()

void vpTemplateTracker::setp ( const vpColVector & tp )

inline

Definition at line 215 of file vpTemplateTracker.h.

◆ setPyramidal()

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

inline

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.

◆ setSampling()

void vpTemplateTracker::setSampling	(	int	sample_i,
		int	sample_j
	)

inline

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.

◆ setThresholdGradient()

void vpTemplateTracker::setThresholdGradient ( double threshold )

inline

Examples:: templateTracker.cpp.

Definition at line 254 of file vpTemplateTracker.h.

◆ setThresholdResidualDifference()

void vpTemplateTracker::setThresholdResidualDifference ( double threshold )

inline

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.

◆ setThresholdRMS()

vp_deprecated void vpTemplateTracker::setThresholdRMS ( double threshold )

inline

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.

◆ setUseBrent()

void vpTemplateTracker::setUseBrent ( bool b )

inline

By default Brent usage is disabled.

Definition at line 267 of file vpTemplateTracker.h.

◆ track()

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

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 nbLvlPyr, trackNoPyr(), and trackPyr().

◆ trackNoPyr()

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

protectedpure virtual

Implemented in vpTemplateTrackerMI, vpTemplateTrackerMIInverseCompositional, vpTemplateTrackerZNCC, vpTemplateTrackerMIESM, vpTemplateTrackerSSD, vpTemplateTrackerMIForwardAdditional, vpTemplateTrackerSSDForwardAdditional, vpTemplateTrackerSSDESM, vpTemplateTrackerSSDInverseCompositional, vpTemplateTrackerZNCCInverseCompositional, vpTemplateTrackerMIForwardCompositional, vpTemplateTrackerSSDForwardCompositional, and vpTemplateTrackerZNCCForwardAdditional.

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

◆ trackPyr()

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

protectedvirtual

Definition at line 705 of file vpTemplateTracker.cpp.

References vpException::badValue, vpImageFilter::getGaussPyramidal(), vpException::getMessage(), vpTemplateTrackerWarp::getParamPyramidDown(), vpTemplateTrackerWarp::getParamPyramidUp(), H, HdesirePyr, HLM, HLMdesireInverse, HLMdesireInversePyr, HLMdesirePyr, l0Pyr, nbLvlPyr, nbParam, p, ptTemplate, ptTemplateCompo, ptTemplateCompoPyr, ptTemplatePyr, ptTemplateSelect, ptTemplateSelectPyr, templateSize, templateSizePyr, trackRobust(), Warp, zoneTracked, and zoneTrackedPyr.

Referenced by track().

◆ trackRobust()

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

Definition at line 749 of file vpTemplateTracker.cpp.

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

Referenced by trackPyr().

Member Data Documentation

◆ BI

vpImage<double> vpTemplateTracker::BI

protected

Definition at line 141 of file vpTemplateTracker.h.

◆ blur

bool vpTemplateTracker::blur

protected

Definition at line 110 of file vpTemplateTracker.h.

◆ costFunctionVerification

bool vpTemplateTracker::costFunctionVerification

protected

Definition at line 109 of file vpTemplateTracker.h.

Referenced by trackRobust().

◆ diverge

bool vpTemplateTracker::diverge

protected

Definition at line 125 of file vpTemplateTracker.h.

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

◆ dIx

vpImage<double> vpTemplateTracker::dIx

protected

Definition at line 142 of file vpTemplateTracker.h.

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

◆ dIy

vpImage<double> vpTemplateTracker::dIy

protected

Definition at line 143 of file vpTemplateTracker.h.

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

◆ dp

vpColVector vpTemplateTracker::dp

protected

Definition at line 133 of file vpTemplateTracker.h.

◆ dW

vpMatrix vpTemplateTracker::dW

protected

Definition at line 139 of file vpTemplateTracker.h.

◆ evolRMS

double vpTemplateTracker::evolRMS

protected

Definition at line 70 of file vpTemplateTracker.h.

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

◆ evolRMS_eps

double vpTemplateTracker::evolRMS_eps

protected

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().

◆ fgdG

double* vpTemplateTracker::fgdG

protected

Definition at line 115 of file vpTemplateTracker.h.

◆ fgG

double* vpTemplateTracker::fgG

protected

Definition at line 114 of file vpTemplateTracker.h.

◆ G

vpColVector vpTemplateTracker::G

protected

Definition at line 105 of file vpTemplateTracker.h.

◆ gain

double vpTemplateTracker::gain

protected

Definition at line 107 of file vpTemplateTracker.h.

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

◆ H

vpMatrix vpTemplateTracker::H

protected

Definition at line 97 of file vpTemplateTracker.h.

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

◆ Hdesire

vpMatrix vpTemplateTracker::Hdesire

protected

Definition at line 98 of file vpTemplateTracker.h.

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

◆ HdesirePyr

vpMatrix* vpTemplateTracker::HdesirePyr

protected

Definition at line 99 of file vpTemplateTracker.h.

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

◆ HLM

vpMatrix vpTemplateTracker::HLM

protected

Definition at line 100 of file vpTemplateTracker.h.

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

◆ HLMdesire

vpMatrix vpTemplateTracker::HLMdesire

protected

Definition at line 101 of file vpTemplateTracker.h.

◆ HLMdesireInverse

vpMatrix vpTemplateTracker::HLMdesireInverse

protected

Definition at line 103 of file vpTemplateTracker.h.

◆ HLMdesireInversePyr

vpMatrix* vpTemplateTracker::HLMdesireInversePyr

protected

Definition at line 104 of file vpTemplateTracker.h.

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

◆ HLMdesirePyr

vpMatrix* vpTemplateTracker::HLMdesirePyr

protected

Definition at line 102 of file vpTemplateTracker.h.

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

◆ iterationGlobale

unsigned int vpTemplateTracker::iterationGlobale

protected

Definition at line 123 of file vpTemplateTracker.h.

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

◆ iterationMax

unsigned int vpTemplateTracker::iterationMax

protected

Definition at line 121 of file vpTemplateTracker.h.

◆ l0Pyr

unsigned int vpTemplateTracker::l0Pyr

protected

Definition at line 67 of file vpTemplateTracker.h.

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

◆ lambdaDep

double vpTemplateTracker::lambdaDep

protected

Definition at line 120 of file vpTemplateTracker.h.

◆ mod_i

int vpTemplateTracker::mod_i

protected

Definition at line 117 of file vpTemplateTracker.h.

Referenced by initTracking().

◆ mod_j

int vpTemplateTracker::mod_j

protected

Definition at line 118 of file vpTemplateTracker.h.

Referenced by initTracking().

◆ nbIteration

unsigned int vpTemplateTracker::nbIteration

protected

Definition at line 126 of file vpTemplateTracker.h.

◆ nbIterBrent

unsigned int vpTemplateTracker::nbIterBrent

protected

Definition at line 112 of file vpTemplateTracker.h.

Referenced by computeOptimalBrentGain().

◆ nbLvlPyr

unsigned int vpTemplateTracker::nbLvlPyr

protected

Definition at line 66 of file vpTemplateTracker.h.

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

◆ nbParam

unsigned int vpTemplateTracker::nbParam

protected

Definition at line 119 of file vpTemplateTracker.h.

◆ p

vpColVector vpTemplateTracker::p

protected

Definition at line 132 of file vpTemplateTracker.h.

◆ ptTemplate

vpTemplateTrackerPoint* vpTemplateTracker::ptTemplate

protected

Definition at line 75 of file vpTemplateTracker.h.

◆ ptTemplateCompo

vpTemplateTrackerPointCompo* vpTemplateTracker::ptTemplateCompo

protected

Definition at line 90 of file vpTemplateTracker.h.

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

◆ ptTemplateCompoPyr

vpTemplateTrackerPointCompo** vpTemplateTracker::ptTemplateCompoPyr

protected

Definition at line 91 of file vpTemplateTracker.h.

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

◆ ptTemplateInit

bool vpTemplateTracker::ptTemplateInit

protected

Definition at line 77 of file vpTemplateTracker.h.

Referenced by initTracking(), and resetTracker().

◆ ptTemplatePyr

vpTemplateTrackerPoint** vpTemplateTracker::ptTemplatePyr

protected

Definition at line 76 of file vpTemplateTracker.h.

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

◆ ptTemplateSelect

bool* vpTemplateTracker::ptTemplateSelect

protected

Definition at line 80 of file vpTemplateTracker.h.

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

◆ ptTemplateSelectInit

bool vpTemplateTracker::ptTemplateSelectInit

protected

Definition at line 82 of file vpTemplateTracker.h.

Referenced by initTracking(), and resetTracker().

◆ ptTemplateSelectPyr

bool** vpTemplateTracker::ptTemplateSelectPyr

protected

Definition at line 81 of file vpTemplateTracker.h.

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

◆ pyr_IDes

vpImage<unsigned char>* vpTemplateTracker::pyr_IDes

protected

Definition at line 95 of file vpTemplateTracker.h.

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

◆ pyrInitialised

bool vpTemplateTracker::pyrInitialised

protected

Definition at line 68 of file vpTemplateTracker.h.

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

◆ ratioPixelIn

double vpTemplateTracker::ratioPixelIn

protected

Definition at line 116 of file vpTemplateTracker.h.

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

◆ taillef

unsigned int vpTemplateTracker::taillef

protected

Definition at line 113 of file vpTemplateTracker.h.

◆ templateSelectSize

unsigned int vpTemplateTracker::templateSelectSize

protected

Definition at line 83 of file vpTemplateTracker.h.

Referenced by initTracking().

◆ templateSize

unsigned int vpTemplateTracker::templateSize

protected

Definition at line 78 of file vpTemplateTracker.h.

◆ templateSizePyr

unsigned int* vpTemplateTracker::templateSizePyr

protected

Definition at line 79 of file vpTemplateTracker.h.

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

◆ thresholdGradient

double vpTemplateTracker::thresholdGradient

protected

Definition at line 108 of file vpTemplateTracker.h.

Referenced by initTracking().

◆ useBrent

bool vpTemplateTracker::useBrent

protected

Definition at line 111 of file vpTemplateTracker.h.

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

◆ useCompositionnal

bool vpTemplateTracker::useCompositionnal

protected

Definition at line 127 of file vpTemplateTracker.h.

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

◆ useInverse

bool vpTemplateTracker::useInverse

protected

Definition at line 128 of file vpTemplateTracker.h.

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

◆ Warp

vpTemplateTrackerWarp* vpTemplateTracker::Warp

protected

Definition at line 130 of file vpTemplateTracker.h.

◆ X1

vpColVector vpTemplateTracker::X1

protected

Definition at line 136 of file vpTemplateTracker.h.

◆ X2

vpColVector vpTemplateTracker::X2

protected

Definition at line 137 of file vpTemplateTracker.h.

◆ x_pos

std::vector<double> vpTemplateTracker::x_pos

protected

Definition at line 71 of file vpTemplateTracker.h.

Referenced by computeEvalRMS(), and initPosEvalRMS().

◆ y_pos

std::vector<double> vpTemplateTracker::y_pos

protected

Definition at line 72 of file vpTemplateTracker.h.

Referenced by computeEvalRMS(), and initPosEvalRMS().

◆ zoneRef_

vpTemplateTrackerZone vpTemplateTracker::zoneRef_

protected

Definition at line 144 of file vpTemplateTracker.h.

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

◆ zoneTracked

vpTemplateTrackerZone* vpTemplateTracker::zoneTracked

protected

Definition at line 92 of file vpTemplateTracker.h.

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

◆ zoneTrackedPyr

vpTemplateTrackerZone* vpTemplateTracker::zoneTrackedPyr

protected

Definition at line 93 of file vpTemplateTracker.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ vpTemplateTracker() [1/2]

◆ vpTemplateTracker() [2/2]

◆ ~vpTemplateTracker()

Member Function Documentation

◆ computeEvalRMS()

◆ computeOptimalBrentGain()

◆ display() [1/2]

◆ display() [2/2]

◆ getCost()

◆ getDiverge()

◆ getdp()

◆ getG()

◆ getGaussianBluredImage()

◆ getH()

◆ getNbIteration()

◆ getNbParam()

◆ getp()

◆ getRatioPixelIn()

◆ getWarp()

◆ getZoneRef()

◆ initClick()

◆ initFromPoints()

◆ initFromZone()

◆ initHessienDesired()

◆ initHessienDesiredPyr()

◆ initPosEvalRMS()

◆ initPyramidal()

◆ initTracking()

◆ initTrackingPyr()

◆ resetTracker()

◆ setBlur()

◆ setCostFunctionVerification()

◆ setGain()

◆ setGaussianFilterSize()

◆ setHDes()

◆ setIterationMax()

◆ setLambda()

◆ setNbIterBrent()

◆ setp()

◆ setPyramidal()

◆ setSampling()

◆ setThresholdGradient()

◆ setThresholdResidualDifference()

◆ setThresholdRMS()

◆ setUseBrent()

◆ track()

◆ trackNoPyr()

◆ trackPyr()

◆ trackRobust()

Member Data Documentation

◆ BI

◆ blur

◆ costFunctionVerification

◆ diverge

◆ dIx

◆ dIy

◆ dp

◆ dW

◆ evolRMS

◆ evolRMS_eps

◆ fgdG

◆ fgG

◆ G

◆ gain

◆ H

◆ Hdesire

◆ HdesirePyr

◆ HLM

◆ HLMdesire

◆ HLMdesireInverse

◆ HLMdesireInversePyr

◆ HLMdesirePyr

◆ iterationGlobale

◆ iterationMax

◆ l0Pyr