#include <visp3/tt_mi/vpTemplateTrackerMI.h>

Inheritance diagram for vpTemplateTrackerMI:

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
	vpTemplateTrackerMI ()

VP_EXPLICIT	vpTemplateTrackerMI (vpTemplateTrackerWarp *_warp)

virtual	~vpTemplateTrackerMI () VP_OVERRIDE

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)

Protected Member Functions
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) VP_OVERRIDE

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	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
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

Definition at line 47 of file vpTemplateTrackerMI.h.

Member Enumeration Documentation

◆ vpBsplineType

enum vpTemplateTrackerMI::vpBsplineType

Hessian computation.

Enumerator
BSPLINE_THIRD_ORDER
BSPLINE_FOURTH_ORDER

Definition at line 65 of file vpTemplateTrackerMI.h.

◆ vpHessienApproximationType

enum vpTemplateTrackerMI::vpHessienApproximationType

Hessian approximation.

Enumerator
HESSIAN_NONSECOND
HESSIAN_0
HESSIAN_d2I
HESSIAN_YOUCEF
HESSIAN_EXACT
HESSIAN_NEW

Definition at line 51 of file vpTemplateTrackerMI.h.

◆ vpHessienType

enum vpTemplateTrackerMI::vpHessienType

Hessian computation.

Enumerator
USE_HESSIEN_NORMAL
USE_HESSIEN_DESIRE
USE_HESSIEN_BEST_COND

Definition at line 62 of file vpTemplateTrackerMI.h.

Constructor & Destructor Documentation

◆ vpTemplateTrackerMI() [1/2]

vpTemplateTrackerMI::vpTemplateTrackerMI ( )

inline

Default constructor.

Definition at line 147 of file vpTemplateTrackerMI.h.

◆ vpTemplateTrackerMI() [2/2]

vpTemplateTrackerMI::vpTemplateTrackerMI ( vpTemplateTrackerWarp * _warp )

Definition at line 80 of file vpTemplateTrackerMI.cpp.

References bspline, d2Prt, dPrt, dPrtD, dprtemp, vpTemplateTracker::dW, vpTemplateTracker::G, vpTemplateTracker::H, vpTemplateTracker::Hdesire, vpTemplateTracker::HLM, vpTemplateTracker::HLMdesire, influBspline, lambda, vpTemplateTracker::lambdaDep, vpTemplateTracker::nbParam, Nc, Ncb, Pr, Prt, PrtD, PrtTout, Pt, vpColVector::resize(), vpArray2D< Type >::resize(), temp, vpTemplateTracker::X1, and vpTemplateTracker::X2.

◆ ~vpTemplateTrackerMI()

vpTemplateTrackerMI::~vpTemplateTrackerMI ( )

virtual

Definition at line 314 of file vpTemplateTrackerMI.cpp.

References d2Prt, dPrt, dPrtD, dprtemp, Pr, Prt, PrtD, PrtTout, Pt, and temp.

Member Function Documentation

◆ computeEvalRMS()

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

◆ computeGradient()

void vpTemplateTrackerMI::computeGradient ( )

protected

Definition at line 546 of file vpTemplateTrackerMI.cpp.

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

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

◆ computeHessien()

void vpTemplateTrackerMI::computeHessien ( vpMatrix & H )

protected

◆ computeHessienNormalized()

void vpTemplateTrackerMI::computeHessienNormalized ( vpMatrix & H )

protected

Definition at line 456 of file vpTemplateTrackerMI.cpp.

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

Referenced by vpTemplateTrackerMIInverseCompositional::trackNoPyr().

◆ computeMI()

void vpTemplateTrackerMI::computeMI ( double & MI )

protected

Definition at line 383 of file vpTemplateTrackerMI.cpp.

References Ncb, Pr, Prt, and Pt.

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

◆ computeOptimalBrentGain()

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

protectedinherited

Definition at line 377 of file vpTemplateTracker.cpp.

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

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

◆ computeProba()

void vpTemplateTrackerMI::computeProba ( int & nbpoint )

protected

Definition at line 338 of file vpTemplateTrackerMI.cpp.

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

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

◆ 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

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>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
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 322 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

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>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
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 368 of file vpTemplateTracker.cpp.

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

◆ getCost() [1/2]

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

inlineprotected

Definition at line 120 of file vpTemplateTrackerMI.h.

References getCost().

Referenced by getCost().

◆ getCost() [2/2]

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

protectedvirtual

◆ getCovarianceMatrix()

vpMatrix vpTemplateTrackerMI::getCovarianceMatrix ( ) const

inline

Definition at line 156 of file vpTemplateTrackerMI.h.

◆ getDiverge()

bool vpTemplateTracker::getDiverge ( ) const

inlineinherited

Definition at line 167 of file vpTemplateTracker.h.

◆ getdp()

vpColVector vpTemplateTracker::getdp ( )

inlineinherited

Definition at line 168 of file vpTemplateTracker.h.

◆ getG()

vpColVector vpTemplateTracker::getG ( ) const

inlineinherited

Definition at line 169 of file vpTemplateTracker.h.

◆ getGaussianBluredImage()

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

inlineprotectedinherited

Definition at line 291 of file vpTemplateTracker.h.

References vpImageFilter::filter().

Referenced by vpTemplateTracker::trackRobust().

◆ getH()

vpMatrix vpTemplateTracker::getH ( ) const

inlineinherited

Definition at line 170 of file vpTemplateTracker.h.

◆ getMI() [1/2]

double vpTemplateTrackerMI::getMI ( ) const

inline

Definition at line 157 of file vpTemplateTrackerMI.h.

◆ getMI() [2/2]

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

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.

◆ getMI256()

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

Definition at line 700 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.

◆ getNbIteration()

unsigned int vpTemplateTracker::getNbIteration ( ) const

inlineinherited

Examples: templateTracker.cpp.

Definition at line 172 of file vpTemplateTracker.h.

◆ getNbParam()

unsigned int vpTemplateTracker::getNbParam ( ) const

inlineinherited

Definition at line 171 of file vpTemplateTracker.h.

◆ getNMI()

double vpTemplateTrackerMI::getNMI ( ) const

inline

Definition at line 160 of file vpTemplateTrackerMI.h.

◆ getNormalizedCost() [1/2]

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

inlineprotected

Definition at line 122 of file vpTemplateTrackerMI.h.

References getNormalizedCost().

Referenced by getNormalizedCost().

◆ getNormalizedCost() [2/2]

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

protected

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().

◆ getp()

vpColVector vpTemplateTracker::getp ( ) const

inlineinherited

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

Definition at line 173 of file vpTemplateTracker.h.

◆ getRatioPixelIn()

double vpTemplateTracker::getRatioPixelIn ( ) const

inlineinherited

Definition at line 174 of file vpTemplateTracker.h.

◆ getWarp()

vpTemplateTrackerWarp* vpTemplateTracker::getWarp ( ) const

inlineinherited

Returns: The pointer to the warper.

Examples: templateTracker.cpp.

Definition at line 180 of file vpTemplateTracker.h.

◆ getZoneRef()

vpTemplateTrackerZone vpTemplateTracker::getZoneRef ( ) const

inlineinherited

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`
	)

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 598 of file vpTemplateTracker.cpp.

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

◆ 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

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 624 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

I	Image containing the reference template.
zone	The zone that describes the reference template.

Definition at line 646 of file vpTemplateTracker.cpp.

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

◆ initHessienDesired()

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

protectedpure virtualinherited

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

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

◆ initHessienDesiredPyr()

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

protectedvirtualinherited

◆ initPosEvalRMS()

void vpTemplateTracker::initPosEvalRMS ( const vpColVector & param )

protectedinherited

Initialize residual computed using computeEvalRMS().

Parameters

[in] param : Warp function parameters.

See also: computeEvalRMS()

Definition at line 829 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 vpTemplateTrackerSSDESM::trackNoPyr(), vpTemplateTrackerSSDForwardAdditional::trackNoPyr(), vpTemplateTrackerSSDForwardCompositional::trackNoPyr(), vpTemplateTrackerSSDInverseCompositional::trackNoPyr(), vpTemplateTrackerZNCCForwardAdditional::trackNoPyr(), vpTemplateTrackerZNCCInverseCompositional::trackNoPyr(), vpTemplateTrackerMIForwardAdditional::trackNoPyr(), vpTemplateTrackerMIForwardCompositional::trackNoPyr(), and vpTemplateTrackerMIInverseCompositional::trackNoPyr().

◆ initPyramidal()

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 527 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().

◆ initTracking()

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

protectedinherited

Definition at line 80 of file vpTemplateTracker.cpp.

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

◆ initTrackingPyr()

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

protectedvirtualinherited

Definition at line 552 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().

◆ resetTracker()

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 157 of file vpTemplateTracker.cpp.

Referenced by vpTemplateTracker::~vpTemplateTracker().

◆ setApprocHessian()

void vpTemplateTrackerMI::setApprocHessian ( vpHessienApproximationType approx )

inline

Definition at line 162 of file vpTemplateTrackerMI.h.

◆ setBlur()

void vpTemplateTracker::setBlur ( bool b )

inlineinherited

Definition at line 193 of file vpTemplateTracker.h.

◆ setBspline()

BEGIN_VISP_NAMESPACE void vpTemplateTrackerMI::setBspline ( const vpBsplineType & newbs )

Definition at line 44 of file vpTemplateTrackerMI.cpp.

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

◆ setCostFunctionVerification()

void vpTemplateTracker::setCostFunctionVerification ( bool b )

inlineinherited

Definition at line 194 of file vpTemplateTracker.h.

◆ setCovarianceComputation()

void vpTemplateTrackerMI::setCovarianceComputation ( const bool & flag )

inline

Definition at line 163 of file vpTemplateTrackerMI.h.

◆ setGain()

void vpTemplateTracker::setGain ( double g )

inlineinherited

Definition at line 195 of file vpTemplateTracker.h.

◆ setGaussianFilterSize()

void vpTemplateTracker::setGaussianFilterSize ( unsigned int new_taill )

inherited

Definition at line 66 of file vpTemplateTracker.cpp.

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

◆ setHDes()

void vpTemplateTracker::setHDes ( vpMatrix & tH )

inlineinherited

Definition at line 197 of file vpTemplateTracker.h.

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

◆ setHessianComputation()

void vpTemplateTrackerMI::setHessianComputation ( vpHessienType type )

inline

Definition at line 164 of file vpTemplateTrackerMI.h.

◆ 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 208 of file vpTemplateTracker.h.

◆ setLambda()

void vpTemplateTrackerMI::setLambda ( double _l )

inline

Definition at line 166 of file vpTemplateTrackerMI.h.

◆ setNbIterBrent()

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

inlineinherited

Definition at line 214 of file vpTemplateTracker.h.

◆ setNc()

void vpTemplateTrackerMI::setNc ( int newNc )

Definition at line 115 of file vpTemplateTrackerMI.cpp.

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

◆ setp()

void vpTemplateTracker::setp ( const vpColVector & tp )

inlineinherited

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

◆ setThresholdGradient()

void vpTemplateTracker::setThresholdGradient ( double threshold )

inlineinherited

Examples: templateTracker.cpp.

Definition at line 254 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 264 of file vpTemplateTracker.h.

◆ setUseBrent()

void vpTemplateTracker::setUseBrent ( bool b )

inlineinherited

By default Brent usage is disabled.

Definition at line 267 of file vpTemplateTracker.h.

◆ track()

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 716 of file vpTemplateTracker.cpp.

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

◆ trackNoPyr()

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

protectedpure virtualinherited

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

Referenced by vpTemplateTracker::track(), and vpTemplateTracker::trackRobust().

◆ trackPyr()

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

protectedvirtualinherited

Definition at line 724 of file vpTemplateTracker.cpp.

Referenced by vpTemplateTracker::track().

◆ trackRobust()

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

inherited

Definition at line 770 of file vpTemplateTracker.cpp.

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

Referenced by vpTemplateTracker::trackPyr().

◆ zeroProbabilities()

void vpTemplateTrackerMI::zeroProbabilities ( )

protected

Definition at line 573 of file vpTemplateTrackerMI.cpp.

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

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

Member Data Documentation

◆ ApproxHessian

vpHessienApproximationType vpTemplateTrackerMI::ApproxHessian

protected

Definition at line 69 of file vpTemplateTrackerMI.h.

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

◆ BI

vpImage<double> vpTemplateTracker::BI

protectedinherited

Definition at line 142 of file vpTemplateTracker.h.

◆ blur

bool vpTemplateTracker::blur

protectedinherited

Definition at line 111 of file vpTemplateTracker.h.

◆ bspline

int vpTemplateTrackerMI::bspline

protected

Definition at line 85 of file vpTemplateTrackerMI.h.

◆ computeCovariance

bool vpTemplateTrackerMI::computeCovariance

protected

Definition at line 101 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMIInverseCompositional::trackNoPyr().

◆ costFunctionVerification

bool vpTemplateTracker::costFunctionVerification

protectedinherited

Definition at line 110 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::trackRobust().

◆ covarianceMatrix

vpMatrix vpTemplateTrackerMI::covarianceMatrix

protected

Definition at line 100 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMIInverseCompositional::trackNoPyr().

◆ d2Ix

vpImage<double> vpTemplateTrackerMI::d2Ix

protected

Definition at line 90 of file vpTemplateTrackerMI.h.

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

◆ d2Ixy

vpImage<double> vpTemplateTrackerMI::d2Ixy

protected

Definition at line 92 of file vpTemplateTrackerMI.h.

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

◆ d2Iy

vpImage<double> vpTemplateTrackerMI::d2Iy

protected

Definition at line 91 of file vpTemplateTrackerMI.h.

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

◆ d2Prt

double* vpTemplateTrackerMI::d2Prt

protected

Definition at line 77 of file vpTemplateTrackerMI.h.

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

◆ diverge

bool vpTemplateTracker::diverge

protectedinherited

Definition at line 126 of file vpTemplateTracker.h.

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

◆ dIx

vpImage<double> vpTemplateTracker::dIx

protectedinherited

Definition at line 143 of file vpTemplateTracker.h.

◆ dIy

vpImage<double> vpTemplateTracker::dIy

protectedinherited

Definition at line 144 of file vpTemplateTracker.h.

◆ dp

vpColVector vpTemplateTracker::dp

protectedinherited

Definition at line 134 of file vpTemplateTracker.h.

◆ dPrt

double* vpTemplateTrackerMI::dPrt

protected

Definition at line 74 of file vpTemplateTrackerMI.h.

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

◆ dPrtD

double* vpTemplateTrackerMI::dPrtD

protected

Definition at line 82 of file vpTemplateTrackerMI.h.

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

◆ dprtemp

double* vpTemplateTrackerMI::dprtemp

protected

Definition at line 79 of file vpTemplateTrackerMI.h.

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

◆ dW

vpMatrix vpTemplateTracker::dW

protectedinherited

Definition at line 140 of file vpTemplateTracker.h.

◆ evolRMS

double vpTemplateTracker::evolRMS

protectedinherited

Definition at line 71 of file vpTemplateTracker.h.

◆ evolRMS_eps

double vpTemplateTracker::evolRMS_eps

protectedinherited

Definition at line 74 of file vpTemplateTracker.h.

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

◆ fgdG

double* vpTemplateTracker::fgdG

protectedinherited

Definition at line 116 of file vpTemplateTracker.h.

◆ fgG

double* vpTemplateTracker::fgG

protectedinherited

Definition at line 115 of file vpTemplateTracker.h.

◆ G

vpColVector vpTemplateTracker::G

protectedinherited

Definition at line 106 of file vpTemplateTracker.h.

◆ gain

double vpTemplateTracker::gain

protectedinherited

Definition at line 108 of file vpTemplateTracker.h.

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

◆ H

vpMatrix vpTemplateTracker::H

protectedinherited

Definition at line 98 of file vpTemplateTracker.h.

◆ Hdesire

vpMatrix vpTemplateTracker::Hdesire

protectedinherited

Definition at line 99 of file vpTemplateTracker.h.

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

◆ HdesirePyr

vpMatrix* vpTemplateTracker::HdesirePyr

protectedinherited

Definition at line 100 of file vpTemplateTracker.h.

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

◆ hessianComputation

vpHessienType vpTemplateTrackerMI::hessianComputation

protected

Definition at line 68 of file vpTemplateTrackerMI.h.

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

◆ HLM

vpMatrix vpTemplateTracker::HLM

protectedinherited

Definition at line 101 of file vpTemplateTracker.h.

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

◆ HLMdesire

vpMatrix vpTemplateTracker::HLMdesire

protectedinherited

Definition at line 102 of file vpTemplateTracker.h.

◆ HLMdesireInverse

vpMatrix vpTemplateTracker::HLMdesireInverse

protectedinherited

Definition at line 104 of file vpTemplateTracker.h.

◆ HLMdesireInversePyr

vpMatrix* vpTemplateTracker::HLMdesireInversePyr

protectedinherited

Definition at line 105 of file vpTemplateTracker.h.

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

◆ HLMdesirePyr

vpMatrix* vpTemplateTracker::HLMdesirePyr

protectedinherited

Definition at line 103 of file vpTemplateTracker.h.

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

◆ influBspline

int vpTemplateTrackerMI::influBspline

protected

Definition at line 83 of file vpTemplateTrackerMI.h.

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

◆ iterationGlobale

unsigned int vpTemplateTracker::iterationGlobale

protectedinherited

Definition at line 124 of file vpTemplateTracker.h.

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

◆ iterationMax

unsigned int vpTemplateTracker::iterationMax

protectedinherited

Definition at line 122 of file vpTemplateTracker.h.

◆ l0Pyr

unsigned int vpTemplateTracker::l0Pyr

protectedinherited

Definition at line 68 of file vpTemplateTracker.h.

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

◆ lambda

double vpTemplateTrackerMI::lambda

protected

Definition at line 70 of file vpTemplateTrackerMI.h.

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

◆ lambdaDep

double vpTemplateTracker::lambdaDep

protectedinherited

Definition at line 121 of file vpTemplateTracker.h.

◆ m_A

std::vector<double> vpTemplateTrackerMI::m_A

protected

Definition at line 106 of file vpTemplateTrackerMI.h.

Referenced by computeHessienNormalized().

◆ m_d2u

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

protected

Definition at line 108 of file vpTemplateTrackerMI.h.

Referenced by computeHessienNormalized().

◆ m_d2v

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

protected

Definition at line 109 of file vpTemplateTrackerMI.h.

Referenced by computeHessienNormalized().

◆ m_dA

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

protected

Definition at line 110 of file vpTemplateTrackerMI.h.

Referenced by computeHessienNormalized().

◆ m_dB

std::vector<double> vpTemplateTrackerMI::m_dB

protected

Definition at line 107 of file vpTemplateTrackerMI.h.

Referenced by computeHessienNormalized().

◆ m_du

std::vector<double> vpTemplateTrackerMI::m_du

protected

Definition at line 104 of file vpTemplateTrackerMI.h.

Referenced by computeHessienNormalized().

◆ m_dv

std::vector<double> vpTemplateTrackerMI::m_dv

protected

Definition at line 105 of file vpTemplateTrackerMI.h.

Referenced by computeHessienNormalized().

◆ MI_postEstimation

double vpTemplateTrackerMI::MI_postEstimation

protected

Definition at line 95 of file vpTemplateTrackerMI.h.

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

◆ MI_preEstimation

double vpTemplateTrackerMI::MI_preEstimation

protected

Definition at line 94 of file vpTemplateTrackerMI.h.

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

◆ mod_i

int vpTemplateTracker::mod_i

protectedinherited

Definition at line 118 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::initTracking().

◆ mod_j

int vpTemplateTracker::mod_j

protectedinherited

Definition at line 119 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::initTracking().

◆ nbIteration

unsigned int vpTemplateTracker::nbIteration

protectedinherited

Definition at line 127 of file vpTemplateTracker.h.

◆ nbIterBrent

unsigned int vpTemplateTracker::nbIterBrent

protectedinherited

Definition at line 113 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::computeOptimalBrentGain().

◆ nbLvlPyr

unsigned int vpTemplateTracker::nbLvlPyr

protectedinherited

Definition at line 67 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().

◆ nbParam

unsigned int vpTemplateTracker::nbParam

protectedinherited

Definition at line 120 of file vpTemplateTracker.h.

◆ Nc

int vpTemplateTrackerMI::Nc

protected

Definition at line 87 of file vpTemplateTrackerMI.h.

◆ Ncb

int vpTemplateTrackerMI::Ncb

protected

Definition at line 88 of file vpTemplateTrackerMI.h.

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

◆ NMI_postEstimation

double vpTemplateTrackerMI::NMI_postEstimation

protected

Definition at line 98 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMIInverseCompositional::trackNoPyr().

◆ NMI_preEstimation

double vpTemplateTrackerMI::NMI_preEstimation

protected

Definition at line 97 of file vpTemplateTrackerMI.h.

Referenced by vpTemplateTrackerMIInverseCompositional::trackNoPyr().

◆ p

vpColVector vpTemplateTracker::p

protectedinherited

Definition at line 133 of file vpTemplateTracker.h.

◆ Pr

double* vpTemplateTrackerMI::Pr

protected

Definition at line 76 of file vpTemplateTrackerMI.h.

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

◆ Prt

double* vpTemplateTrackerMI::Prt

protected

Definition at line 73 of file vpTemplateTrackerMI.h.

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

◆ PrtD

double* vpTemplateTrackerMI::PrtD

protected

Definition at line 81 of file vpTemplateTrackerMI.h.

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

◆ PrtTout

double* vpTemplateTrackerMI::PrtTout

protected

Definition at line 78 of file vpTemplateTrackerMI.h.

◆ Pt

double* vpTemplateTrackerMI::Pt

protected

Definition at line 75 of file vpTemplateTrackerMI.h.

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

◆ ptTemplate

vpTemplateTrackerPoint* vpTemplateTracker::ptTemplate

protectedinherited

Definition at line 76 of file vpTemplateTracker.h.

◆ ptTemplateCompo

vpTemplateTrackerPointCompo* vpTemplateTracker::ptTemplateCompo

protectedinherited

Definition at line 91 of file vpTemplateTracker.h.

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

◆ ptTemplateCompoPyr

vpTemplateTrackerPointCompo** vpTemplateTracker::ptTemplateCompoPyr

protectedinherited

Definition at line 92 of file vpTemplateTracker.h.

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

◆ ptTemplateInit

bool vpTemplateTracker::ptTemplateInit

protectedinherited

Definition at line 78 of file vpTemplateTracker.h.

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

◆ ptTemplatePyr

vpTemplateTrackerPoint** vpTemplateTracker::ptTemplatePyr

protectedinherited

Definition at line 77 of file vpTemplateTracker.h.

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

◆ ptTemplateSelect

bool* vpTemplateTracker::ptTemplateSelect

protectedinherited

Definition at line 81 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().

◆ ptTemplateSelectInit

bool vpTemplateTracker::ptTemplateSelectInit

protectedinherited

Definition at line 83 of file vpTemplateTracker.h.

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

◆ ptTemplateSelectPyr

bool** vpTemplateTracker::ptTemplateSelectPyr

protectedinherited

Definition at line 82 of file vpTemplateTracker.h.

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

◆ pyr_IDes

vpImage<unsigned char>* vpTemplateTracker::pyr_IDes

protectedinherited

Definition at line 96 of file vpTemplateTracker.h.

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

◆ pyrInitialised

bool vpTemplateTracker::pyrInitialised

protectedinherited

Definition at line 69 of file vpTemplateTracker.h.

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

◆ ratioPixelIn

double vpTemplateTracker::ratioPixelIn

protectedinherited

Definition at line 117 of file vpTemplateTracker.h.

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

◆ taillef

unsigned int vpTemplateTracker::taillef

protectedinherited

Definition at line 114 of file vpTemplateTracker.h.

◆ temp

double* vpTemplateTrackerMI::temp

protected

Definition at line 72 of file vpTemplateTrackerMI.h.

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

◆ templateSelectSize

unsigned int vpTemplateTracker::templateSelectSize

protectedinherited

Definition at line 84 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::initTracking().

◆ templateSize

unsigned int vpTemplateTracker::templateSize

protectedinherited

Definition at line 79 of file vpTemplateTracker.h.

◆ templateSizePyr

unsigned int* vpTemplateTracker::templateSizePyr

protectedinherited

Definition at line 80 of file vpTemplateTracker.h.

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

◆ thresholdGradient

double vpTemplateTracker::thresholdGradient

protectedinherited

Definition at line 109 of file vpTemplateTracker.h.

Referenced by vpTemplateTracker::initTracking().

◆ useBrent

bool vpTemplateTracker::useBrent

protectedinherited

Definition at line 112 of file vpTemplateTracker.h.

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

◆ useCompositionnal

bool vpTemplateTracker::useCompositionnal

protectedinherited

Definition at line 128 of file vpTemplateTracker.h.

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

◆ useInverse

bool vpTemplateTracker::useInverse

protectedinherited

Definition at line 129 of file vpTemplateTracker.h.

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

◆ Warp

vpTemplateTrackerWarp* vpTemplateTracker::Warp

protectedinherited

Definition at line 131 of file vpTemplateTracker.h.

◆ X1

vpColVector vpTemplateTracker::X1

protectedinherited

Definition at line 137 of file vpTemplateTracker.h.

◆ X2

vpColVector vpTemplateTracker::X2

protectedinherited

Definition at line 138 of file vpTemplateTracker.h.

◆ x_pos

std::vector<double> vpTemplateTracker::x_pos

protectedinherited

Definition at line 72 of file vpTemplateTracker.h.

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

◆ y_pos

std::vector<double> vpTemplateTracker::y_pos

protectedinherited

Definition at line 73 of file vpTemplateTracker.h.

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

◆ zoneRef_

vpTemplateTrackerZone vpTemplateTracker::zoneRef_

protectedinherited

Definition at line 145 of file vpTemplateTracker.h.

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

◆ zoneTracked

vpTemplateTrackerZone* vpTemplateTracker::zoneTracked

protectedinherited

Definition at line 93 of file vpTemplateTracker.h.

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

◆ zoneTrackedPyr

vpTemplateTrackerZone* vpTemplateTracker::zoneTrackedPyr

protectedinherited

Definition at line 94 of file vpTemplateTracker.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ vpBsplineType

◆ vpHessienApproximationType

◆ vpHessienType

Constructor & Destructor Documentation

◆ vpTemplateTrackerMI() [1/2]

◆ vpTemplateTrackerMI() [2/2]

◆ ~vpTemplateTrackerMI()

Member Function Documentation

◆ computeEvalRMS()

◆ computeGradient()

◆ computeHessien()

◆ computeHessienNormalized()

◆ computeMI()

◆ computeOptimalBrentGain()

◆ computeProba()

◆ display() [1/2]

◆ display() [2/2]

◆ getCost() [1/2]

◆ getCost() [2/2]

◆ getCovarianceMatrix()

◆ getDiverge()

◆ getdp()

◆ getG()

◆ getGaussianBluredImage()

◆ getH()

◆ getMI() [1/2]

◆ getMI() [2/2]

◆ getMI256()

◆ getNbIteration()

◆ getNbParam()

◆ getNMI()

◆ getNormalizedCost() [1/2]

◆ getNormalizedCost() [2/2]

◆ getp()

◆ getRatioPixelIn()

◆ getWarp()

◆ getZoneRef()

◆ initClick()

◆ initFromPoints()

◆ initFromZone()

◆ initHessienDesired()

◆ initHessienDesiredPyr()

◆ initPosEvalRMS()

◆ initPyramidal()

◆ initTracking()

◆ initTrackingPyr()

◆ resetTracker()

◆ setApprocHessian()

◆ setBlur()

◆ setBspline()

◆ setCostFunctionVerification()

◆ setCovarianceComputation()

◆ setGain()

◆ setGaussianFilterSize()

◆ setHDes()

◆ setHessianComputation()

◆ setIterationMax()

◆ setLambda()

◆ setNbIterBrent()

◆ setNc()

◆ setp()

◆ setPyramidal()

◆ setSampling()

◆ setThresholdGradient()

◆ setThresholdResidualDifference()

◆ setUseBrent()

◆ track()

◆ trackNoPyr()

◆ trackPyr()

◆ trackRobust()

◆ zeroProbabilities()

Member Data Documentation

◆ ApproxHessian

◆ BI