Visual Servoing Platform  version 3.4.1 under development (2021-10-21)
vpTemplateTrackerMIForwardAdditional.cpp
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30  *
31  * Description:
32  * Example of template tracking.
33  *
34  * Authors:
35  * Amaury Dame
36  * Aurelien Yol
37  * Fabien Spindler
38  *
39  *****************************************************************************/
40 
41 #include <visp3/tt_mi/vpTemplateTrackerMIForwardAdditional.h>
42 
43 #ifdef VISP_HAVE_OPENMP
44 #include <omp.h>
45 #endif
46 
48  : vpTemplateTrackerMI(_warp), minimizationMethod(USE_NEWTON), p_prec(), G_prec(), KQuasiNewton()
49 {
50  useCompositionnal = false;
51 }
52 
54 {
55  dW = 0;
56 
57  int Nbpoint = 0;
58 
59  if (blur)
63 
64  double Tij;
65  double IW, dx, dy;
66  int cr, ct;
67  double er, et;
68 
69  Nbpoint = 0;
70 
72  Warp->computeCoeff(p);
73  for (unsigned int point = 0; point < templateSize; point++) {
74  int i = ptTemplate[point].y;
75  int j = ptTemplate[point].x;
76  X1[0] = j;
77  X1[1] = i;
78  X2[0] = j;
79  X2[1] = i;
80 
81  Warp->computeDenom(X1, p);
82  Warp->warpX(X1, X2, p);
83 
84  double j2 = X2[0];
85  double i2 = X2[1];
86 
87  if ((i2 >= 0) && (j2 >= 0) && (i2 < I.getHeight() - 1) && (j2 < I.getWidth() - 1)) {
88  Nbpoint++;
89  Tij = ptTemplate[point].val;
90  if (!blur)
91  IW = I.getValue(i2, j2);
92  else
93  IW = BI.getValue(i2, j2);
94 
95  dx = dIx.getValue(i2, j2) * (Nc - 1) / 255.;
96  dy = dIy.getValue(i2, j2) * (Nc - 1) / 255.;
97 
98  ct = static_cast<int>((IW * (Nc - 1)) / 255.);
99  cr = static_cast<int>((Tij * (Nc - 1)) / 255.);
100  et = (IW * (Nc - 1)) / 255. - ct;
101  er = (static_cast<double>(Tij) * (Nc - 1)) / 255. - cr;
102  Warp->dWarp(X1, X2, p, dW);
103 
104  double *tptemp = new double[nbParam];
105  for (unsigned int it = 0; it < nbParam; it++)
106  tptemp[it] = dW[0][it] * dx + dW[1][it] * dy;
107 
109  vpTemplateTrackerMIBSpline::PutTotPVBsplineNoSecond(PrtTout, cr, er, ct, et, Nc, tptemp, nbParam, bspline);
111  vpTemplateTrackerMIBSpline::PutTotPVBspline(PrtTout, cr, er, ct, et, Nc, tptemp, nbParam, bspline);
112 
113  delete[] tptemp;
114  }
115  }
116 
117  if (Nbpoint > 0) {
118  double MI;
119  computeProba(Nbpoint);
120  computeMI(MI);
122 
124  try {
126  } catch (const vpException &e) {
127  throw(e);
128  }
129  }
130 }
131 
133 {
134  dW = 0;
135 
136  int Nbpoint = 0;
137  if (blur)
141 
142  double MI = 0, MIprec = -1000;
143 
144  MI_preEstimation = -getCost(I, p);
145 
146  double alpha = 2.;
147 
148  unsigned int iteration = 0;
149 
150  initPosEvalRMS(p);
151  double evolRMS_init = 0;
152  double evolRMS_prec = 0;
153  double evolRMS_delta;
154 
155  do {
156  if (iteration % 5 == 0)
158  Nbpoint = 0;
159  MIprec = MI;
160  MI = 0;
161  // erreur=0;
162 
164 
165  Warp->computeCoeff(p);
166 #ifdef VISP_HAVE_OPENMP
167  int nthreads = omp_get_num_procs();
168  // std::cout << "file: " __FILE__ << " line: " << __LINE__ << " function:
169  // " << __FUNCTION__ << " nthread: " << nthreads << std::endl;
170  omp_set_num_threads(nthreads);
171 #pragma omp parallel for default(shared)
172 #endif
173  for (int point = 0; point < (int)templateSize; point++) {
174  int i = ptTemplate[point].y;
175  int j = ptTemplate[point].x;
176  X1[0] = j;
177  X1[1] = i;
178 
179  Warp->computeDenom(X1, p);
180  Warp->warpX(X1, X2, p);
181 
182  double j2 = X2[0];
183  double i2 = X2[1];
184 
185  if ((i2 >= 0) && (j2 >= 0) && (i2 < I.getHeight() - 1) && (j2 < I.getWidth() - 1)) {
186  Nbpoint++;
187  double Tij = ptTemplate[point].val;
188  double IW;
189  if (!blur)
190  IW = I.getValue(i2, j2);
191  else
192  IW = BI.getValue(i2, j2);
193 
194  double dx = dIx.getValue(i2, j2) * (Nc - 1) / 255.;
195  double dy = dIy.getValue(i2, j2) * (Nc - 1) / 255.;
196 
197  int ct = (int)((IW * (Nc - 1)) / 255.);
198  int cr = (int)((Tij * (Nc - 1)) / 255.);
199  double et = (IW * (Nc - 1)) / 255. - ct;
200  double er = ((double)Tij * (Nc - 1)) / 255. - cr;
201 
202  Warp->dWarp(X1, X2, p, dW);
203 
204  double *tptemp = new double[nbParam];
205  for (unsigned int it = 0; it < nbParam; it++)
206  tptemp[it] = (dW[0][it] * dx + dW[1][it] * dy);
208  vpTemplateTrackerMIBSpline::PutTotPVBsplineNoSecond(PrtTout, cr, er, ct, et, Nc, tptemp, nbParam, bspline);
210  vpTemplateTrackerMIBSpline::PutTotPVBspline(PrtTout, cr, er, ct, et, Nc, tptemp, nbParam, bspline);
211 
212  delete[] tptemp;
213  }
214  }
215 
216  if (Nbpoint == 0) {
217  diverge = true;
218  MI = 0;
219  throw(vpTrackingException(vpTrackingException::notEnoughPointError, "No points in the template"));
220  } else {
221  computeProba(Nbpoint);
222  computeMI(MI);
223  computeHessien(H);
224  computeGradient();
225 
227  try {
228  switch (hessianComputation) {
230  dp = gain * HLMdesireInverse * G;
231  break;
233  if (HLM.cond() > HLMdesire.cond())
234  dp = gain * HLMdesireInverse * G;
235  else
236  dp = gain * 0.2 * HLM.inverseByLU() * G;
237  break;
238  default:
239  dp = gain * 0.2 * HLM.inverseByLU() * G;
240  break;
241  }
242  } catch (const vpException &e) {
243  throw(e);
244  }
245  }
246 
247  switch (minimizationMethod) {
249  vpColVector p_test_LMA(nbParam);
251  p_test_LMA = p - 100000.1 * dp;
252  else
253  p_test_LMA = p + dp;
254  MI = -getCost(I, p);
255  double MI_LMA = -getCost(I, p_test_LMA);
256  if (MI_LMA > MI) {
257  p = p_test_LMA;
258  lambda = (lambda / 10. < 1e-6) ? lambda / 10. : 1e-6;
259  } else {
260  lambda = (lambda * 10. < 1e6) ? 1e6 : lambda * 10.;
261  }
262  } break;
264  dp = -gain * 6.0 * G;
265  if (useBrent) {
266  alpha = 2.;
267  computeOptimalBrentGain(I, p, -MI, dp, alpha);
268  dp = alpha * dp;
269  }
270  p += dp;
271  break;
272  }
273 
275  if (iterationGlobale != 0) {
276  vpColVector s_quasi = p - p_prec;
277  vpColVector y_quasi = G - G_prec;
278  double s_scal_y = s_quasi.t() * y_quasi;
279  if (std::fabs(s_scal_y) > std::numeric_limits<double>::epsilon()) {
280  KQuasiNewton = KQuasiNewton + 0.001 * (s_quasi * s_quasi.t() / s_scal_y -
281  KQuasiNewton * y_quasi * y_quasi.t() * KQuasiNewton /
282  (y_quasi.t() * KQuasiNewton * y_quasi));
283  }
284  }
285  dp = -KQuasiNewton * G;
286  p_prec = p;
287  G_prec = G;
288  p -= 1.01 * dp;
289  } break;
290 
291  default: {
293  dp = -0.1 * dp;
294  if (useBrent) {
295  alpha = 2.;
296  computeOptimalBrentGain(I, p, -MI, dp, alpha);
297  dp = alpha * dp;
298  }
299 
300  p += dp;
301  break;
302  }
303  }
304 
305  computeEvalRMS(p);
306 
307  if (iteration == 0) {
308  evolRMS_init = evolRMS;
309  }
310  iteration++;
312 
313  evolRMS_delta = std::fabs(evolRMS - evolRMS_prec);
314  evolRMS_prec = evolRMS;
315 
316  } while ((std::fabs(MI - MIprec) > std::fabs(MI) * std::numeric_limits<double>::epsilon()) &&
317  (iteration < iterationMax) && (evolRMS_delta > std::fabs(evolRMS_init)*evolRMS_eps));
318 
319  if (Nbpoint == 0) {
320  throw(vpTrackingException(vpTrackingException::notEnoughPointError, "No points in the template"));
321  }
322 
323  nbIteration = iteration;
324  MI_postEstimation = -getCost(I, p);
326  MI_postEstimation = -1;
327  }
328 }
virtual void warpX(const int &v1, const int &u1, double &v2, double &u2, const vpColVector &p)=0
void computeHessien(vpMatrix &H)
void trackNoPyr(const vpImage< unsigned char > &I)
Type getValue(unsigned int i, unsigned int j) const
Definition: vpImage.h:1346
vpTemplateTrackerPoint * ptTemplate
vpMatrix inverseByLU() const
void computeOptimalBrentGain(const vpImage< unsigned char > &I, vpColVector &tp, double tMI, vpColVector &direction, double &alpha)
error that can be emited by ViSP classes.
Definition: vpException.h:71
void initPosEvalRMS(const vpColVector &p)
vpRowVector t() const
static void getGradYGauss2D(const vpImage< unsigned char > &I, vpImage< double > &dIy, const double *gaussianKernel, const double *gaussianDerivativeKernel, unsigned int size)
void computeEvalRMS(const vpColVector &p)
static void getGradXGauss2D(const vpImage< unsigned char > &I, vpImage< double > &dIx, const double *gaussianKernel, const double *gaussianDerivativeKernel, unsigned int size)
vpImage< double > BI
vpHessienApproximationType ApproxHessian
unsigned int templateSize
double cond(double svThreshold=1e-6) const
Definition: vpMatrix.cpp:6623
unsigned int iterationMax
Error that can be emited by the vpTracker class and its derivates.
double getCost(const vpImage< unsigned char > &I, const vpColVector &tp)
vpImage< double > dIx
void computeMI(double &MI)
vpImage< double > dIy
unsigned int iterationGlobale
unsigned int nbIteration
static void filter(const vpImage< double > &I, vpImage< double > &Iu, vpImage< double > &Iv, const vpMatrix &M, bool convolve=false)
unsigned int getHeight() const
Definition: vpImage.h:188
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
void initHessienDesired(const vpImage< unsigned char > &I)
virtual void dWarp(const vpColVector &X1, const vpColVector &X2, const vpColVector &p, vpMatrix &dM)=0
vpTemplateTrackerWarp * Warp
static void computeHLM(const vpMatrix &H, const double &alpha, vpMatrix &HLM)
Definition: vpMatrix.cpp:6684
unsigned int getWidth() const
Definition: vpImage.h:246
void computeProba(int &nbpoint)
vpHessienType hessianComputation