Visual Servoing Platform  version 3.5.1 under development (2023-09-22)
vpTemplateTrackerSSDInverseCompositional Class Reference

#include <visp3/tt/vpTemplateTrackerSSDInverseCompositional.h>

+ Inheritance diagram for vpTemplateTrackerSSDInverseCompositional:

Public Member Functions

 vpTemplateTrackerSSDInverseCompositional (vpTemplateTrackerWarp *warp)
 
void setUseTemplateSelect (bool b)
 
double getSSD (const vpImage< unsigned char > &I, const vpColVector &tp)
 
void setGain (double g)
 
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
 
vpTemplateTrackerWarpgetWarp () const
 
vpTemplateTrackerZone getZoneRef () const
 
void initClick (const vpImage< unsigned char > &I, bool delaunay=false)
 
void initFromPoints (const vpImage< unsigned char > &I, const std::vector< vpImagePoint > &v_ip, bool delaunay=false)
 
void initFromZone (const vpImage< unsigned char > &I, const vpTemplateTrackerZone &zone)
 
void resetTracker ()
 
void setBlur (bool b)
 
void setCostFunctionVerification (bool b)
 
void setGaussianFilterSize (unsigned int new_taill)
 
void setHDes (vpMatrix &tH)
 
void setIterationMax (const unsigned int &n)
 
void setLambda (double l)
 
void setNbIterBrent (const unsigned int &b)
 
void setp (const vpColVector &tp)
 
void setPyramidal (unsigned int nlevels=2, unsigned int level_to_stop=1)
 
void setSampling (int sample_i, int sample_j)
 
void setThresholdGradient (double threshold)
 
void setThresholdResidualDifference (double threshold)
 
void setUseBrent (bool b)
 
void track (const vpImage< unsigned char > &I)
 
void trackRobust (const vpImage< unsigned char > &I)
 

Protected Member Functions

void initHessienDesired (const vpImage< unsigned char > &I)
 
void initCompInverse (const vpImage< unsigned char > &I)
 
void trackNoPyr (const vpImage< unsigned char > &I)
 
double getCost (const vpImage< unsigned char > &I, const vpColVector &tp)
 
double getCost (const vpImage< unsigned char > &I)
 

Protected Attributes

bool compoInitialised
 
vpMatrix HInv
 
vpMatrix HCompInverse
 
bool useTemplateSelect
 
vpRowVector DI
 
vpRowVector temp
 
unsigned int nbLvlPyr
 
unsigned int l0Pyr
 
bool pyrInitialised
 
double evolRMS
 
std::vector< double > x_pos
 
std::vector< double > y_pos
 
double evolRMS_eps
 
vpTemplateTrackerPointptTemplate
 
vpTemplateTrackerPoint ** ptTemplatePyr
 
bool ptTemplateInit
 
unsigned int templateSize
 
unsigned int * templateSizePyr
 
bool * ptTemplateSelect
 
bool ** ptTemplateSelectPyr
 
bool ptTemplateSelectInit
 
unsigned int templateSelectSize
 
vpTemplateTrackerPointCompoptTemplateCompo
 
vpTemplateTrackerPointCompo ** ptTemplateCompoPyr
 
vpTemplateTrackerZonezoneTracked
 
vpTemplateTrackerZonezoneTrackedPyr
 
vpImage< unsigned char > * pyr_IDes
 
vpMatrix H
 
vpMatrix Hdesire
 
vpMatrixHdesirePyr
 
vpMatrix HLM
 
vpMatrix HLMdesire
 
vpMatrixHLMdesirePyr
 
vpMatrix HLMdesireInverse
 
vpMatrixHLMdesireInversePyr
 
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
 
vpTemplateTrackerWarpWarp
 
vpColVector p
 
vpColVector dp
 
vpColVector X1
 
vpColVector X2
 
vpMatrix dW
 
vpImage< double > BI
 
vpImage< double > dIx
 
vpImage< double > dIy
 
vpTemplateTrackerZone zoneRef_
 

Deprecated functions

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)
 
vp_deprecated void setThresholdRMS (double threshold)
 

Detailed Description

The algorithm implemented in this class is described in [1] and [34].

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

Definition at line 55 of file vpTemplateTrackerSSDInverseCompositional.h.

Constructor & Destructor Documentation

◆ vpTemplateTrackerSSDInverseCompositional()

vpTemplateTrackerSSDInverseCompositional::vpTemplateTrackerSSDInverseCompositional ( vpTemplateTrackerWarp warp)
explicit

Member Function Documentation

◆ computeEvalRMS()

◆ computeOptimalBrentGain()

◆ display() [1/2]

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
IImage in which the warped zone has to be displayed.
colColor used to draw the triangle edges.
thicknessThickness of the lines.

The following code shows how to use display capabilities:

#include <visp3/tt/vpTemplateTrackerSSDInverseCompositional.h>
#include <visp3/tt/vpTemplateTrackerWarpHomography.h>
int main()
{
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);
}
Implementation of column vector and the associated operations.
Definition: vpColVector.h:167
static const vpColor red
Definition: vpColor.h:211
static const vpColor blue
Definition: vpColor.h:217
static const vpColor green
Definition: vpColor.h:214
void warpZone(const vpTemplateTrackerZone &in, const vpColVector &p, vpTemplateTrackerZone &out)
void display(const vpImage< unsigned char > &I, const vpColor &col=vpColor::green, unsigned int thickness=3)
Examples
templateTracker.cpp, and tutorial-template-tracker.cpp.

Definition at line 315 of file vpTemplateTracker.cpp.

References vpImage< Type >::display, vpTemplateTrackerZone::display(), vpTemplateTracker::p, vpTemplateTracker::Warp, vpTemplateTrackerWarp::warpZone(), and vpTemplateTracker::zoneTracked.

◆ display() [2/2]

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
IImage in which the warped zone has to be displayed.
colColor used to draw the triangle edges.
thicknessThickness of the lines.

The following code shows how to use display capabilities:

#include <visp3/tt/vpTemplateTrackerSSDInverseCompositional.h>
#include <visp3/tt/vpTemplateTrackerWarpHomography.h>
int main()
{
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 357 of file vpTemplateTracker.cpp.

References vpImage< Type >::display, vpTemplateTrackerZone::display(), vpTemplateTracker::p, vpTemplateTracker::Warp, vpTemplateTrackerWarp::warpZone(), and vpTemplateTracker::zoneTracked.

◆ getCost() [1/2]

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

Definition at line 70 of file vpTemplateTrackerSSD.h.

References vpTemplateTrackerSSD::getCost().

Referenced by vpTemplateTrackerSSD::getCost().

◆ getCost() [2/2]

◆ getDiverge()

bool vpTemplateTracker::getDiverge ( ) const
inlineinherited

Definition at line 166 of file vpTemplateTracker.h.

◆ getdp()

vpColVector vpTemplateTracker::getdp ( )
inlineinherited

Definition at line 167 of file vpTemplateTracker.h.

◆ getG()

vpColVector vpTemplateTracker::getG ( ) const
inlineinherited

Definition at line 168 of file vpTemplateTracker.h.

◆ getGaussianBluredImage()

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

Definition at line 290 of file vpTemplateTracker.h.

References vpImageFilter::filter().

Referenced by vpTemplateTracker::trackRobust().

◆ getH()

vpMatrix vpTemplateTracker::getH ( ) const
inlineinherited

Definition at line 169 of file vpTemplateTracker.h.

◆ getNbIteration()

unsigned int vpTemplateTracker::getNbIteration ( ) const
inlineinherited
Examples
templateTracker.cpp.

Definition at line 171 of file vpTemplateTracker.h.

◆ getNbParam()

unsigned int vpTemplateTracker::getNbParam ( ) const
inlineinherited

Definition at line 170 of file vpTemplateTracker.h.

◆ getp()

vpColVector vpTemplateTracker::getp ( ) const
inlineinherited
Examples
templateTracker.cpp, and tutorial-template-tracker.cpp.

Definition at line 172 of file vpTemplateTracker.h.

◆ getRatioPixelIn()

double vpTemplateTracker::getRatioPixelIn ( ) const
inlineinherited

Definition at line 173 of file vpTemplateTracker.h.

◆ getSSD()

◆ getWarp()

vpTemplateTrackerWarp* vpTemplateTracker::getWarp ( ) const
inlineinherited
Returns
The pointer to the warper.
Examples
templateTracker.cpp.

Definition at line 179 of file vpTemplateTracker.h.

◆ getZoneRef()

vpTemplateTrackerZone vpTemplateTracker::getZoneRef ( ) const
inlineinherited

Return the reference template zone.

Examples
templateTracker.cpp.

Definition at line 184 of file vpTemplateTracker.h.

◆ initClick()

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

Select the reference template in image I using mouse click.

Parameters
IImage containing the reference template.
delaunayFlag 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 581 of file vpTemplateTracker.cpp.

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

◆ initCompInverse()

◆ initFromPoints()

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
IImage containing the reference template.
v_ipVector 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 606 of file vpTemplateTracker.cpp.

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

◆ initFromZone()

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

Initialize the reference template from a vector of points.

Parameters
IImage containing the reference template.
zoneThe zone that describes the reference template.

Definition at line 627 of file vpTemplateTracker.cpp.

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

◆ initHessienDesired()

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

Implements vpTemplateTrackerSSD.

Definition at line 88 of file vpTemplateTrackerSSDInverseCompositional.cpp.

References initCompInverse().

◆ initHessienDesiredPyr()

◆ initPosEvalRMS()

◆ initPyramidal()

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

◆ initTracking()

◆ initTrackingPyr()

◆ resetTracker()

◆ setBlur()

void vpTemplateTracker::setBlur ( bool  b)
inlineinherited

Definition at line 192 of file vpTemplateTracker.h.

◆ setCostFunctionVerification()

void vpTemplateTracker::setCostFunctionVerification ( bool  b)
inlineinherited

Definition at line 193 of file vpTemplateTracker.h.

◆ setGain()

void vpTemplateTrackerSSD::setGain ( double  g)
inlineinherited

Definition at line 78 of file vpTemplateTrackerSSD.h.

◆ setGaussianFilterSize()

void vpTemplateTracker::setGaussianFilterSize ( unsigned int  new_taill)
inherited

◆ setHDes()

void vpTemplateTracker::setHDes ( vpMatrix tH)
inlineinherited

Definition at line 196 of file vpTemplateTracker.h.

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

◆ setIterationMax()

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 around 100.
Examples
templateTracker.cpp, and tutorial-template-tracker.cpp.

Definition at line 207 of file vpTemplateTracker.h.

◆ setLambda()

void vpTemplateTracker::setLambda ( double  l)
inlineinherited

Set the convergence gain used in the estimation scheme.

Parameters
l: Gain. A typical value is 0.001.
Examples
templateTracker.cpp, and tutorial-template-tracker.cpp.

Definition at line 212 of file vpTemplateTracker.h.

◆ setNbIterBrent()

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

Definition at line 213 of file vpTemplateTracker.h.

◆ setp()

void vpTemplateTracker::setp ( const vpColVector tp)
inlineinherited

Definition at line 214 of file vpTemplateTracker.h.

◆ setPyramidal()

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 229 of file vpTemplateTracker.h.

◆ setSampling()

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 248 of file vpTemplateTracker.h.

◆ setThresholdGradient()

void vpTemplateTracker::setThresholdGradient ( double  threshold)
inlineinherited
Examples
templateTracker.cpp.

Definition at line 253 of file vpTemplateTracker.h.

◆ setThresholdResidualDifference()

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 263 of file vpTemplateTracker.h.

◆ setThresholdRMS()

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 281 of file vpTemplateTracker.h.

◆ setUseBrent()

void vpTemplateTracker::setUseBrent ( bool  b)
inlineinherited

By default Brent usage is disabled.

Definition at line 266 of file vpTemplateTracker.h.

◆ setUseTemplateSelect()

void vpTemplateTrackerSSDInverseCompositional::setUseTemplateSelect ( bool  b)
inline

Use only the strong gradient pixels to compute the Jabobian. By default this feature is disabled.

Definition at line 73 of file vpTemplateTrackerSSDInverseCompositional.h.

◆ track()

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

Track the template on image I.

Parameters
IImage to process.
Examples
templateTracker.cpp, and tutorial-template-tracker.cpp.

Definition at line 694 of file vpTemplateTracker.cpp.

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

◆ trackNoPyr()

◆ trackPyr()

◆ trackRobust()

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

Member Data Documentation

◆ BI

◆ blur

◆ compoInitialised

bool vpTemplateTrackerSSDInverseCompositional::compoInitialised
protected

Definition at line 58 of file vpTemplateTrackerSSDInverseCompositional.h.

Referenced by initCompInverse().

◆ costFunctionVerification

bool vpTemplateTracker::costFunctionVerification
protectedinherited

Definition at line 108 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::trackRobust().

◆ DI

vpRowVector vpTemplateTrackerSSD::DI
protectedinherited

Definition at line 65 of file vpTemplateTrackerSSD.h.

Referenced by vpTemplateTrackerSSD::vpTemplateTrackerSSD().

◆ diverge

◆ dIx

◆ dIy

◆ dp

◆ dW

◆ evolRMS

◆ evolRMS_eps

◆ fgdG

◆ fgG

◆ G

◆ gain

◆ H

◆ HCompInverse

vpMatrix vpTemplateTrackerSSDInverseCompositional::HCompInverse
protected

◆ Hdesire

◆ HdesirePyr

◆ HInv

vpMatrix vpTemplateTrackerSSDInverseCompositional::HInv
protected

◆ HLM

◆ HLMdesire

◆ HLMdesireInverse

◆ HLMdesireInversePyr

vpMatrix* vpTemplateTracker::HLMdesireInversePyr
protectedinherited

◆ HLMdesirePyr

◆ iterationGlobale

unsigned int vpTemplateTracker::iterationGlobale
protectedinherited

◆ iterationMax

◆ l0Pyr

◆ lambdaDep

◆ mod_i

int vpTemplateTracker::mod_i
protectedinherited

Definition at line 116 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::initTracking().

◆ mod_j

int vpTemplateTracker::mod_j
protectedinherited

Definition at line 117 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::initTracking().

◆ nbIteration

◆ nbIterBrent

unsigned int vpTemplateTracker::nbIterBrent
protectedinherited

Definition at line 111 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::computeOptimalBrentGain().

◆ nbLvlPyr

◆ nbParam

unsigned int vpTemplateTracker::nbParam
protectedinherited

Definition at line 118 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerMI::computeGradient(), vpTemplateTrackerMI::computeHessien(), vpTemplateTrackerMI::computeHessienNormalized(), vpTemplateTracker::computeOptimalBrentGain(), vpTemplateTrackerMI::computeProba(), vpTemplateTrackerMIESM::initCompInverse(), vpTemplateTrackerSSDESM::initCompInverse(), initCompInverse(), vpTemplateTrackerZNCCInverseCompositional::initCompInverse(), vpTemplateTrackerMIInverseCompositional::initCompInverse(), vpTemplateTrackerMIForwardCompositional::initCompo(), vpTemplateTrackerSSDForwardCompositional::initCompo(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIForwardCompositional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initTemplateRefBspline(), vpTemplateTracker::initTracking(), vpTemplateTrackerMI::setBspline(), vpTemplateTrackerMI::setNc(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), trackNoPyr(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), vpTemplateTracker::trackPyr(), vpTemplateTracker::vpTemplateTracker(), vpTemplateTrackerMI::vpTemplateTrackerMI(), vpTemplateTrackerSSD::vpTemplateTrackerSSD(), vpTemplateTrackerSSDESM::vpTemplateTrackerSSDESM(), vpTemplateTrackerSSDInverseCompositional(), vpTemplateTrackerZNCC::vpTemplateTrackerZNCC(), and vpTemplateTrackerMI::zeroProbabilities().

◆ p

◆ ptTemplate

vpTemplateTrackerPoint* vpTemplateTracker::ptTemplate
protectedinherited

Definition at line 74 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerSSD::getCost(), vpTemplateTrackerZNCC::getCost(), vpTemplateTrackerMI::getCost(), vpTemplateTrackerMI::getMI(), vpTemplateTrackerMI::getMI256(), vpTemplateTrackerMI::getNormalizedCost(), vpTemplateTrackerSSD::getSSD(), vpTemplateTrackerMIESM::initCompInverse(), vpTemplateTrackerSSDESM::initCompInverse(), initCompInverse(), vpTemplateTrackerZNCCInverseCompositional::initCompInverse(), vpTemplateTrackerMIInverseCompositional::initCompInverse(), vpTemplateTrackerMIForwardCompositional::initCompo(), vpTemplateTrackerSSDForwardCompositional::initCompo(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIForwardCompositional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTracker::initHessienDesiredPyr(), vpTemplateTrackerMIInverseCompositional::initTemplateRefBspline(), vpTemplateTracker::initTracking(), vpTemplateTracker::initTrackingPyr(), vpTemplateTracker::resetTracker(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), trackNoPyr(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), and vpTemplateTracker::trackPyr().

◆ ptTemplateCompo

◆ ptTemplateCompoPyr

◆ ptTemplateInit

bool vpTemplateTracker::ptTemplateInit
protectedinherited

◆ ptTemplatePyr

◆ ptTemplateSelect

◆ ptTemplateSelectInit

bool vpTemplateTracker::ptTemplateSelectInit
protectedinherited

◆ ptTemplateSelectPyr

◆ pyr_IDes

vpImage<unsigned char>* vpTemplateTracker::pyr_IDes
protectedinherited

◆ pyrInitialised

bool vpTemplateTracker::pyrInitialised
protectedinherited

◆ ratioPixelIn

double vpTemplateTracker::ratioPixelIn
protectedinherited

◆ taillef

◆ temp

vpRowVector vpTemplateTrackerSSD::temp
protectedinherited

Definition at line 66 of file vpTemplateTrackerSSD.h.

Referenced by vpTemplateTrackerSSD::vpTemplateTrackerSSD().

◆ templateSelectSize

unsigned int vpTemplateTracker::templateSelectSize
protectedinherited

Definition at line 82 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::initTracking().

◆ templateSize

unsigned int vpTemplateTracker::templateSize
protectedinherited

Definition at line 77 of file vpTemplateTracker.h.

Referenced by vpTemplateTrackerSSD::getCost(), vpTemplateTrackerZNCC::getCost(), vpTemplateTrackerMI::getCost(), vpTemplateTrackerMI::getMI(), vpTemplateTrackerMI::getMI256(), vpTemplateTrackerMI::getNormalizedCost(), vpTemplateTrackerSSD::getSSD(), vpTemplateTrackerMIESM::initCompInverse(), vpTemplateTrackerSSDESM::initCompInverse(), initCompInverse(), vpTemplateTrackerZNCCInverseCompositional::initCompInverse(), vpTemplateTrackerMIInverseCompositional::initCompInverse(), vpTemplateTrackerMIForwardCompositional::initCompo(), vpTemplateTrackerSSDForwardCompositional::initCompo(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIForwardCompositional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTracker::initHessienDesiredPyr(), vpTemplateTracker::initTracking(), vpTemplateTracker::initTrackingPyr(), vpTemplateTracker::resetTracker(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), trackNoPyr(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), and vpTemplateTracker::trackPyr().

◆ templateSizePyr

◆ thresholdGradient

double vpTemplateTracker::thresholdGradient
protectedinherited

Definition at line 107 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::initTracking().

◆ useBrent

◆ useCompositionnal

◆ useInverse

◆ useTemplateSelect

bool vpTemplateTrackerSSDInverseCompositional::useTemplateSelect
protected

Definition at line 61 of file vpTemplateTrackerSSDInverseCompositional.h.

Referenced by initCompInverse(), and trackNoPyr().

◆ Warp

vpTemplateTrackerWarp* vpTemplateTracker::Warp
protectedinherited

Definition at line 129 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::computeEvalRMS(), vpTemplateTracker::computeOptimalBrentGain(), vpTemplateTracker::display(), vpTemplateTrackerSSD::getCost(), vpTemplateTrackerZNCC::getCost(), vpTemplateTrackerMI::getCost(), vpTemplateTrackerMI::getMI(), vpTemplateTrackerMI::getMI256(), vpTemplateTrackerMI::getNormalizedCost(), vpTemplateTrackerSSD::getSSD(), vpTemplateTrackerMIESM::initCompInverse(), vpTemplateTrackerSSDESM::initCompInverse(), initCompInverse(), vpTemplateTrackerZNCCInverseCompositional::initCompInverse(), vpTemplateTrackerMIInverseCompositional::initCompInverse(), vpTemplateTrackerMIForwardCompositional::initCompo(), vpTemplateTrackerSSDForwardCompositional::initCompo(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIForwardCompositional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTracker::initPosEvalRMS(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), trackNoPyr(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), vpTemplateTracker::trackPyr(), vpTemplateTracker::vpTemplateTracker(), vpTemplateTrackerMIESM::vpTemplateTrackerMIESM(), and vpTemplateTrackerSSDESM::vpTemplateTrackerSSDESM().

◆ X1

vpColVector vpTemplateTracker::X1
protectedinherited

Definition at line 135 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::computeEvalRMS(), vpTemplateTrackerSSD::getCost(), vpTemplateTrackerZNCC::getCost(), vpTemplateTrackerMI::getCost(), vpTemplateTrackerMI::getMI(), vpTemplateTrackerMI::getMI256(), vpTemplateTrackerMI::getNormalizedCost(), vpTemplateTrackerSSD::getSSD(), vpTemplateTrackerMIESM::initCompInverse(), vpTemplateTrackerMIForwardCompositional::initCompo(), vpTemplateTrackerSSDForwardCompositional::initCompo(), vpTemplateTrackerZNCCForwardAdditional::initHessienDesired(), vpTemplateTrackerZNCCInverseCompositional::initHessienDesired(), vpTemplateTrackerMIESM::initHessienDesired(), vpTemplateTrackerMIForwardAdditional::initHessienDesired(), vpTemplateTrackerMIForwardCompositional::initHessienDesired(), vpTemplateTrackerMIInverseCompositional::initHessienDesired(), vpTemplateTracker::initPosEvalRMS(), vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), trackNoPyr(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerMIESM::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), vpTemplateTrackerMIInverseCompositional::trackNoPyr(), vpTemplateTrackerMI::vpTemplateTrackerMI(), vpTemplateTrackerSSD::vpTemplateTrackerSSD(), and vpTemplateTrackerZNCC::vpTemplateTrackerZNCC().

◆ X2

◆ x_pos

std::vector<double> vpTemplateTracker::x_pos
protectedinherited

◆ y_pos

std::vector<double> vpTemplateTracker::y_pos
protectedinherited

◆ zoneRef_

vpTemplateTrackerZone vpTemplateTracker::zoneRef_
protectedinherited

◆ zoneTracked

◆ zoneTrackedPyr